CN105263448A - Soft exosuit for assistance with human motion - Google Patents
Soft exosuit for assistance with human motion Download PDFInfo
- Publication number
- CN105263448A CN105263448A CN201480031224.7A CN201480031224A CN105263448A CN 105263448 A CN105263448 A CN 105263448A CN 201480031224 A CN201480031224 A CN 201480031224A CN 105263448 A CN105263448 A CN 105263448A
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- power
- sensor
- joint
- machine armor
- soft machine
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Classifications
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Abstract
A motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the sensors and actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator.
Description
The cross reference of related application
This application claims the priority enjoying following patent application: in No. 61/829686th, the U.S. Provisional Patent Application of " for auxiliomotor method and system (MethodandSystemforAssistedMotion) " by name that on May 31st, 2013 submits to, in No. 61/873433rd, the U.S. Provisional Patent Application of " the soft machine armor (SoftExosuitforAssistancewithHumanMotion) for auxiliary human motion " by name of JIUYUE in 2013 submission on the 4th, in No. PCT/US13/60225th, the PCT patent application of " the soft machine armor (SoftExosuitforAssistancewithHumanMotion) for auxiliary human motion " by name of JIUYUE in 2013 submission on the 17th, in No. 61/936162nd, the U.S. Provisional Patent Application of " for the multirobot information physical system (Multi-robotCyberphysicalSystemforAssistingWalkinginDevel opmentally-DelayedToddlersApplication) of auxiliary walking in hypoevolutism child application " by name that on February 5th, 2014 submits to, in No. 61/913863rd, the U.S. Provisional Patent Application of " the wearable soft machine armor, auxiliary device and related system (Soft, WearableExosuits, AssistiveDevicesandRelatedSystems) " by name of December in 2013 submission on the 9th, in No. 61/928281st, the U.S. Provisional Patent Application of " wearable soft machine armor, auxiliary device and related system (Soft, WearableExosuits, AssistiveDevicesandRelatedSystems) " by name that on January 16th, 2014 submits to, in No. 61/977880th, the U.S. Provisional Patent Application of " knee ectoskeleton and the descending running gear (KneeExoskeletonandDownhillWalkingDevice) " by name of submission on April 10th, 2014 and in No. 61/980961st, the U. S. application being called " the soft machine armors (SoftExosuitforAssistingtheLowerBody) for auxiliary lower limb " of submission on April 17th, 2014, at this, full content in each aforementioned application is incorporated to herein by reference.
About the statement of federal government's research fund
Aspects more of the present invention are carried out under the support of government, and authorized approval number W911QX-12-C-0084 by septic yanks, and therefore, government enjoys the right of these aspects of the present invention.
Aspects more of the present invention are carried out under the support of government, and authorized approval number CNS-0932015 by National Science Foundation, and therefore, government enjoys the right of these aspects of the present invention.
Technical field
The present invention is broadly directed to the method and system for auxiliary human motion, and relate more specifically to for providing motion to assist and the method and system reducing the energy that motion (such as, walking) period consumes by adding auxiliary energy passively and/or on one's own initiative to one or more action.
Background technology
Utilizing for auxiliomotor system of prior art comprises rigid element (such as, linkage) and joint is (such as, pin joint) ectoskeleton, described ectoskeleton uses ectoskeleton joint to be attached to the health of user, described ectoskeleton joint be arranged to have ideally with the rotating shaft of the natural axis conllinear of the rotation for adjacent segment.The ectoskeleton of exemplary prior art is shown in the U.S. published patent application No. 2007/0123997 and No. 2011/0040216 all submitted to the people such as Herr, at this, full content of these US publication applications is incorporated to this paper by reference.This kind of rigid exo bone provides replacement and has lost or the ability of human motion that is seriously impaired be correspondingly designed to strengthen the stability of user, balance and safety.Other rigid exo bone as the platform of naturopathy providing (such as, in naturopathy clinic) in clinical settings, or is more easily executed the task for auxiliary sound user or for longer periods executes the task.
But what these rigid exo bones depended on linkage is connected to the braced frame of health via pad, tape or other joining technique at chosen position place.When user bends or stretch their limbs, these are rigidly connected and move abreast with limbs, which increase sizable motional inertia that must be overcome by motor or user.Although carried out a large amount of effort reducing weight and the overall dimensions of these devices, they have still caused sizable restriction to the motion of user, especially produce sizable impedance to the natural power of gait and kinesiology.Also be why these exoskeleton systems can not reduce one of reason of the metabolism power needed for motion to this change of proper motion of walking.Because ectoskeletal pin joint is not accurately mated with the axle of the human synovial by the movement of complex three-dimensional path, so such being rigidly connected also can cause difficulty, particularly in extreme sport situation.This causes the dislocation up to 10cm during proper motion, and this can cause pain even to injure to user.A solution comprises unnecessary isolated degree of freedom, to make ectoskeleton can movement and distortion in for the key area of wearer motion, but, which in turns increases the weight of system.
Summary of the invention
The present invention relates to the method for the motion being configured to assisted user, system and device, and relate more specifically to and comprise one or more actuator and be disposed in multiple anchor point or anchorage zone (crista iliaca, shoulder, thigh, ankle and shank etc.) between multiple not extendable element or half flexible linking member stretched (such as, ribbon, tape, rope, functional fabric, wire rod, cable, composite or their combination etc.) the relevant method of soft machine armor, system and device, wherein, described actuator is suitable for being in the flexible member of selection in the time being of value to described specific limbs or movements of parts of the body to the power of specific limbs or body part transmission optionally producing tension force.
As described herein, described soft machine armor is usually directed to and comprises wearable device, described wearable device uses flexible linking member auxiliary force to be provided to a part (such as, a foot) at least one limbs (such as, one leg) or limbs.In certain aspects, described soft machine armor uses flexible linking member auxiliary force to be provided to multiple parts (such as, two feet) of multiple limbs (such as, two legs) or one or more limbs.In at least some, except to drive at different time place the one or more joints on lower limb or relative arm with promote limbs in different directions movement motion (such as, walking) outside, the present invention is also included in time, and to drive multiple limbs and such as comprise be that the motion of lower limb is coupled to each other at place, lower limb and arm motion (the same side or opposite side) are coupled, make arm motion be coupled or other body kinematics is coupled, to utilize potential collaborative motion.
Compared with prior art rigid exo bone, soft machine armor is lighter, it is more comfortable to dress, and still can transmit and can allow more complete, more natural range of motion while auxiliomotor power or torque valuably.According to the present invention, selectively, described flexible linking member optionally can use with rigidity or varied rigid link combination of elements and need not all Connection Elements be all flexible.
In at least some of the present invention, kinetic control system comprises at least one driver, at least one driver described comprises at least one driver part, and at least one driver part described has the near-end that is connected with at least one driver described in first side in joint and has the far-end be connected with the anchoring element junction point of the second side being positioned at described joint.About there is the near-end that is connected with at least one driver described in first side in joint and there is the described driver part of the far-end be connected with the anchoring element junction point of the second side being positioned at described joint, the described proximal end connector oneself being connected to described driver can be adjacent with described joint or contiguous maybe can be arranged to away from described joint (such as, in knapsack, removed from described joint by one or more extra joint).In addition, described driver part itself can have the multi-joint cable crossing over multiple joint.Described kinetic control system also comprises the second sensor of the first sensor being configured to export the signal limiting gait cycle and the signal being configured to the tension force exported in representative at least one driver part described.Described kinetic control system also comprises at least one controller, at least one controller described is configured to receive the described signal exported from described first sensor and described second sensor, and in response to the signal received, at least one driver described is automatically driven during the Part I of described gait cycle, described anchoring element junction point is applied to via at least one driver part described to make the power being greater than reservation threshold tension force, thus the useful moment produced about described joint, and at least one driver described is automatically driven during at least Part II of described gait cycle, so that the tension force at described anchoring element junction point place is decreased to the level of described reservation threshold tension force or the level lower than described reservation threshold tension force, thus avoid producing the harmful moment about described joint,
Although according to the embodiment of soft machine armor described herein, the joint be mentioned for described kinetic control system above belongs to biological joint (such as, human synovial and joint of animal), but described control system is equally applicable to abiotic joint (joint etc. such as, in ectoskeleton joint, joint of robot and prosthese).About the application of control system useful moment being applied to the joint in prosthese, prosthese is advantageously adapted to provide more natural and smooth motion, and this can auxiliary balance and gait further.
In at least some of the present invention is in other, kinetic control system comprises at least one driver, at least one driver described comprises at least one driver part, at least one driver part described has near-end and far-end, described near-end is connected with at least one driver described in first side in joint, and described far-end is connected with the anchoring element junction point of the second side being arranged in described joint.Described kinetic control system also comprises: first sensor, and described first sensor is configured to the tension force measured at least one driver part described and also exports the signal relevant to tested tension force; Second sensor, described second sensor is configured to detect heel contact; And storage device, described storage device is configured to store average gait percent data and average step time.Described kinetic control system also comprises at least one controller, at least one controller described is configured to monitor the described signal exported by described first sensor and the described signal exported by described second sensor, and after heel contact being detected, wait for that the described tested tension force at least one driver part described rises to threshold level, after these two events, at least one controller described calculates gait percentage ratio in step by using following formula:
And at least one driver exports the location aided rebroadcast force curve based on described gait percentage ratio to shown anchoring element junction point via at least one driver part described described in triggering, the applying of described location aided rebroadcast force curve produces the useful moment about described joint.In this kinetic control system, at least one controller described is also configured to: calculate new average gait percentage ratio, average gait percentage ratio in described storage device is updated stored in by using described heel contact and average step time, the average gait percentage ratio of monitoring about 36% is in described tested tension force at least one driver part described, and the aided location curve initiating to correct exports with the driver adapted to subsequently.
In at least some, the method (it is applicable to robot or Wearable robot system) of the motion in control machine robot system comprises the following steps: by using controller, utilize the first sensor of described wearable robot system to detect heel contact; Further, in response to the above-mentioned detection to described heel contact, use described controller to start to monitor the second sensor of described wearable robot system, to determine when the passive generative power in described second sensor rises to reservation threshold level.Described method also comprises the described controller of use and comes according to following formulae discovery gait percentage ratio:
The calculating gait percentage ratio of described reservation threshold level and 36% is risen in response to the described passive generative power in the above-mentioned detection to described heel contact, described second sensor, use described controller to trigger at least one driver, location aided rebroadcast curve is passed to joint based on described calculating gait percentage ratio.
In at least some, described kinetic control system is configured to monitor one or more parameter (such as, the synthesis rigidity of wearable robot, joint angles and heel contact etc.) (preferably, multiple parameter) be applied to the flexible linking member of selection from one or more actuator with directed force.Suitably, active force can be applied to the motion that will assist off and on, and the level of required power depends on comfort level and/or performance.
In at least some, the rigidity of described soft machine armor (and therefore, the ability for generation of the tension change obtained of described soft machine armor) be the variable affected by several factors, these variablees such as include but not limited to that described soft machine armor adapts to the degree of the anatomical structure of user (such as, node is relative to the layout etc. in joint), soft machine armoured material, soft machine armor component structure rigidity (such as, the layout of node and anchor point) and user health rigidity (such as, higher when during the muscle strain of user, the health ratio of rigidity of user is loosened).For example, stride across the not extensible of joint by using or the element of portions extend can optionally improve the rigidity of described soft machine armor.As another example, in at least one, striding across the not extensible of joint by using or the element of portions extend preferentially can only be positioned at the side in joint instead of the both sides in joint to the raising of rigidity like this, to make when described joint is in its maximum flexion point or maximum extension point place, described soft machine armor becomes tensioning due to the structure of health, but during other structure, becomes lax when described joint is not in the position of its maximum flexion or stretching, extension.In other side, be configured to stride across multiple joint to produce tension force multi-joint system due to the aggregate motion in these joints make the tensioning of described soft machine armor by using.Soft machine armor pretension can be used for increasing conjunction tension force in whole system and can such as by between node and/or anchor point (such as, between hip/ground and thigh conical section) tensioning (such as, changing length on one's own initiative or passively before the use and/or during use) soft machine armor Connection Element or realized by the total length reducing the Connection Element between node and/or anchor point.
According at least some aspect of the present invention, described actuator can provide position or force curve when driving, and these positions or force curve combine described soft machine armor and body position when driving and provide the tension force of expectation, rigidity and about the moment selecting joint.Described control system is configured to use the building block such as such as node and link etc. of described actuator optionally soft machine armor described in tensioning.In one aspect, this tensioning is used for dynamically, immediately changes the tension force striding across the system in one or more joint.In one aspect, this tensioning can be applicable to (such as, automatic tensioning function) by measuring the power of described actuating unit and displacement with under being identified in specific torque and/or in gait (such as, in walking or when running) or stand (such as, stop) in the most effective machine armor rigidity at specified point place, thus adjust the performance of described soft machine armor, comfort level and laminating degree.
Usually, disclosed soft machine armor is configured to motion assisted Extraction being supplied to user.This based drive auxiliary be not limited to as the principal character in embodiment presently disclosed walking or run.But, presently disclosed based drively auxiliaryly relate to any based drive clothes widely and assist, such as can comprise and any one or multiple body part are assisted relative to another movements of parts of the body, these motions only such as comprise that limbs are (such as, an arm is relative to trunk, one leg is relative to described hip or foot lower limb relative to correspondence) motion, multiple limbs (such as, two arms are relative to trunk, two legs relative to hip and arm relative to trunk and one leg relative to hip etc.) motion, the motion of head and/or trunk.For example, advantageously, wheelchair-bound individual can use the upper body embodiment of described soft machine armor to carry out auxiliary moving.
In one embodiment, described soft machine armor can be used for the motion of the auxiliary people having load or do not have load to walk, this auxiliary advantageously reduce user metabolic exhaustion and reduce stride across joint soft tissue (such as, ligament, MT) on load, thus also reduce injured and/or existing damage or first deposit the risk of conditions worsen.This is of value to the soldier of load walking especially.In other embodiments, injured, maimedly soft machine armor presently disclosed can be used with aging people to increase mobility and/or to reduce tired (such as, walk, upper body moves, swiveling movement and pivoting action etc.).
In at least some of the present invention, described soft machine armor is passive type and is formed at the power produced when not using actuator about one or more joint (such as, hip etc.).In this passive soft machine armor, described soft machine armor comprises top anchoring element, multiple lower anchor element and arranges between described top anchoring element and described multiple lower anchor element and multiple not extensile Connection Elements at least substantially of paths arrangement along transmitting force, wherein, described Connection Element is configured to righting moment to be provided to described hip, offsets towards meta to make described thigh.Described armor with the mode effect parallel with muscle, to reduce the stretching, extension torque needed for health.
Except based drive assisting, described soft machine armor also can such as by providing opposing instead of assisting (such as, in order to strengthen muscle, in order to provide negative feedback etc. to incorrect motion) or be used to locomotion evaluation, rehabilitation or gait special operations and training by providing rectification auxiliary in the place of needs supplemental training (such as, golf training and tennis training etc.).
In addition, described soft machine armor can be comprised individual activity (such as by participation, on foot, climb, ride, walking, boat, canoeing and skiing etc.) and work activities (such as, architectural engineering, refuse collection, freight handling, lawn-care and field first aid person etc.) use at the Healthy People of the based drive auxiliary activity of interior expectation.In addition, according to different activities, the type of the weight of actuator and/or power supply and location and power supply also can change according to the scope of design of change.
Below these and other performance of described soft machine armor is illustrated more fully.
Accompanying drawing explanation
Fig. 1 shows the front view of the second example of the soft machine armor according at least some aspect of the present invention.
Fig. 2 A to 2B respectively illustrates the representative of the representative of the side view of the soft machine armor according at least some aspect of the present invention and the axonometric chart according to the soft machine armor of at least some aspect of the present invention.
Fig. 3 shows the side view depicting the critical piece of soft machine armor of the soft machine armor (V5) according at least some aspect of the present invention.
Fig. 4 shows the example of the plane mode layout of the soft machine armor (V5) according at least some aspect of the present invention.
Fig. 5 shows the belt of the soft machine armor (V5) according at least some aspect of the present invention.
Fig. 6 A to 6B shows the front view that figure 5 illustrates the soft machine armor (V5) on its top according at least some aspect of the present invention and rearview.
Fig. 7 shows according to soft machine armor (V5) of the present invention and the figure of power that transmits on each element.
Fig. 8 shows the block diagram of the example of an embodiment of the drive system for soft machine armor according at least some aspect of the present invention.
The expression of the controlled driving of soft machine armor in during Fig. 9 shows a part for the gait cycle in the soft machine armor at least some according to the present invention.
Figure 10 shows the approximation inputing to the power of motor in gait cycle in the soft machine armor at least some according to the present invention.
Figure 11 shows the example of the cable displacement curve of the function as the time in the soft machine armor at least some according to the present invention.
Figure 12 shows the aspect of the control program of the soft machine armor at least some aspect according to the present invention.
Figure 13 shows the aspect of the control program of the soft machine armor at least some aspect according to the present invention.
Figure 14 shows the aspect of the control program of the soft machine armor at least some aspect according to the present invention.
Figure 15 A to 15B shows the aspect of the soft machine armor according at least some aspect of the present invention.
Hip joint torques during Figure 16 shows walking in a horizontal state and gait cycle percentage ratio.
Figure 17 shows curve, motor position and foot switch signal during ground level walking.
Figure 18 shows the curve chart of actuating sequential and the corresponding armor power relevant with cable position depicting soft machine armor during gait cycle.
The actuating sequential of the soft machine armor during Figure 19 shows and depicts gait cycle and another curve chart of the corresponding armor power relevant with cable position.
Figure 20 A to 20B respectively illustrates the curve chart of the gyrostatic example being connected to footwear connector according to the soft machine armor of at least some aspect of the present invention and the speed data relevant with the percentage ratio of the gait cycle of wearer obtained by this gyroscope.
Figure 21 A to 21B shows the power calculation of the different parts of the soft machine armor at least some aspect according to the present invention.
Figure 22 A shows the power (N) of the function as gait (%) for the control system (its monitor to combine use gait sequential with auxiliary path generator, position control and human body-armor power) shown in Figure 22 B of at least some aspect according to the present invention and the curve of position (mm).
Figure 23 A shows the power (N) of the function as gait (%) in a standard deviation of the average ankle activation profile of the expectation peak force for having soft machine armor 150N.Figure 23 B shows the average ankle power (watt) of standardization of the function as gait (%) in a standard deviation according at least some aspect of the present invention.
Figure 24 A to 24B shows the soft machine armor control system not having step to postpone according to the providing the synchronous auxiliary of gait of at least some aspect of the present invention.
Figure 25 depicts the multilayer control structure of the soft machine armor at least some aspect according to the present invention.
Figure 26 A to 26B respectively illustrates the diagram for the ankle base soft machine armor of at least some aspect according to the present invention and the power displacement relation of the soft machine armor of hip base.
Figure 27 A to 27B shows the curve of the realtime power stream of the function as gait percentage ratio according at least some aspect of the present invention.
Figure 28 A to 28B shows for using one or more gyroscope to detect method and the control structure of the soft machine armor of gait activity, and it comprises the curve according to the average gyroscope voltage signal of the standardization under the different speed of travel of the function as gait percentage ratio of at least some aspect of the present invention.
Figure 29 A to 29B shows method for the soft machine armor of at least some aspect according to the present invention and control structure, and the sensing data wherein from normal lower limb is used as the auxiliary control inputs being provided to impaired lower limb.
Figure 30 shows the graphic user interface of the soft machine armor control system at least some aspect according to the present invention.
Figure 31 A to 31B shows the operational concept of the soft machine armor at least some aspect according to the present invention.
Figure 32 A to 32B shows the extra operational concept of the soft machine armor at least some aspect according to the present invention.
Figure 33 show according at least some aspect of the present invention for determining that human body-soft machine armor rigidity under anchor is to provide the control program that can repeat force-displacement behavior.
Figure 34 A to 34B illustrates the hip moment of actuator during walking cycle and the curve of position that illustrate according at least some aspect of the present invention.
The present invention may have various amendment and alternative form, shows specific embodiment by the example in accompanying drawing and will be described them in detail in this article.But should be understood that, the present invention is not limited to disclosed particular form.But, the present invention can cover fall into the present invention and claims spirit and scope in all amendment, equivalent and substitute and unrestricted.
Detailed description of the invention
The present invention relates to combines with actuator system be utilized for such as walk, run, accelerate, the natural motion such as deceleration provides active auxiliary soft machine armor system.
Compared with the rigid exo bone of prior art, soft machine armor according to the present invention uses flexible material solve the human factors challenge relevant to ESD specially with actuator and do not have load-bearing ectoskeleton, but the biological skeleton relying on user comes the applying of auxiliary force and the transmission of load.
Soft machine armor greatly reduces mechanical impedance and kinesiology and limits and do not fetter significantly or the degree of freedom of limited subscriber compared with traditional ectoskeleton with rigid element.Under such systems, controlled energy pulse can be increased (such as, during the key component of gait cycle) instead of the direct control of position, there is provided auxiliary for motion and reduce the metabolic exhaustion of moving when constrained motion indistinctively (such as, walking/load-carrying).
Fig. 1 shows the embodiment of the soft machine armor 100 according at least some aspect of the present invention.As mentioned above, soft machine armor 100 is configured to by using one or more Connection Element (such as, 102-105 and 107) moment to be applied to one or more joint (such as, hip joint as shown in Figure 1 and ankle joint).These Connection Elements can stride across joint and pre-tensioner, make tension force apply auxiliary torque to joint.According at least some embodiment, user optionally increases or reduces the pretension in soft machine armor.This feature of the pre-tensioner change of user's selectivity can comprise by one or more autonomous channels of mechanical or dynamo-electric tensioning device control (such as, whole armor and/or control for left/right and/or front/rear independence), wherein, this tensioning device is configured to (such as, by adjusting the FL of one or more Connection Element) along passage adjustment tension force.By or not by providing the user about the feedback that can accept pretension comfort level to input to soft machine armor controller, pre-tensionerly can also optionally be adjusted by controller and/or optimize.In another aspect, user adjusts tension force in one or more Connection Element or anchoring element (such as, ribbon broken into ring-type by bracelet and velcro (Velcro) region is used for attachment) easily by the length adjusting one or more Connection Element or anchoring element.
Fig. 1 shows the soft machine armor 100 of the Connection Element 102 and 103 comprising belt 110, node 115, thigh support part 120 and connect belt and thigh support part.Belt 110 is around waist and contact with crista iliaca as support component.One or more extra support component also can be used (such as except belt 110, shoulder belt (not shown)), or one or more extra support component (such as, shoulder belt (not shown)) can be used to replace belt 110.By making belt 110 closely fit health in the thin narrow portion of waist, natural physical trait helps to keep belt in place.Thigh support part 120 provides at the strong point of thigh or node, to guide Connection Element 102 and 103 through hip joint and to make Connection Element 102 and 103 aim at along thigh, and due to the conical by its shape of thigh, thigh can be used as resisting the strong point of the upwards tension force being applied to thigh support part.Tensioning between belt 110 and thigh support part 120 makes it possible to produce than being used alone the higher initial tension of initial tension that belt 110 obtains.
For example, Connection Element 102 and 103 can be tensioned and make the applying when stretching hip of the tension force during walking in Connection Element 102 and 103 promote the moment of hip joint flexing.Part (30%-50%) period before just the pushing off of gait cycle, hip absorbed power.Soft machine armor can stretch auxiliary energy at this moment by opposing hip and absorb.After following this closely, from the 50%-70% of gait cycle, hip provides positive.Soft machine armor also can assist this power to generate by supplementary moment being applied to hip.In addition, Connection Element 102 and 103 can (such as, directly or via thigh support part 120 indirectly) be connected to shank Connection Element 107, shank Connection Element 107 meets to downward-extension and at the rear portion place be positioned at below calf of lower limb around knee.
In at least some of the present invention, shank Connection Element 107 is connected to directly (such as, inner at the footwear of user, between the inner surface of the footwear of socks or lining and user) or the heel connector of the engaging foot (such as, resisting the anchor point of upwards tension force) that indirectly (passes through footwear) or anchoring element.Connection Element 107 also can be connected (or alternately connecting) to being positioned at the outside point of footwear (such as, boots) by directly or indirectly (such as, via the anchoring element of centre).Therefore, in some aspects of the invention, soft machine armor stops at foot (or the both feet) place of user, at the foot place of user, under (bottom) anchor point comprise the anchor part engaged with the foot of user or the footwear of user.
Superincumbent soft machine armor is anchored at user foot or both feet or foot or both feet near each structure in, Connection Element is fixed and tensioning, to promote the rigidity of soft machine armor and effectively to apply power to generate moment needed for the plantar flexion moment that can change according to different situations of auxiliary plantar flexion (or for) at heel.
Power is being applied to from Connection Element 107 foot of user or the embodiment of footwear, can such as via surround heel fabric, via the foot or underfooting side that are fixed to user inner bottom insert (insoleinsert) or via sock textile belt construction calcaneus (heel) place apply power.Power can be applied to heel itself (or heel portion of footwear) with assist dorsiflexion, or power can from heel via Connection Element, fabric or ribbon etc. (such as, be applicable to the metal wire of application, cable, gear, actuating device and lever etc.) be redirected to the upper surface (or top of footwear) of foot, to apply downward power thus auxiliary plantar flexion the upper surface (or top of footwear) of foot is upper.
Inner bottom insert can such as comprise rigidity or semi-rigid element, and this rigidity or semi-rigid element are exerted all one's strength and can be applied to the rear portion of this rigidity or semi-rigid element via heel Connection Element.Then, tension force from Connection Element 102-105 can be applied to shank Connection Element 107, and then be applied to and be attached to inner bottom insert (or alternately, be attached to heel portion or the rear portion of footwear, or be attached to the heel portion or rear portion that are arranged in sock structure on foot or textile belt construction) heel Connection Element.Heel Connection Element can extend along the bottom of foot and be connected to the Connection Element of one or more upper surface around foot below heel, makes the tension force being applied to heel Connection Element cause the plantar flexion (such as, pedal is from motion) of ankle joint.
According to some embodiments of the present invention, soft machine armor is constructed for particular organisms mechanics activity (such as, walking etc.), designs and optimizes.When performing normal, the purchaseless motions such as such as walking when health, weight is also transferred to another foot from a foot by the skeleton that muscular tissue consumption metabolizable energy is moved, and is provided for the energy of driven forward and opposing gravity.Moment is applied to specific joint set by muscle, and these joints are stretched and flexing in the mode of time control and coordination, thus walks out each step.
According to some embodiments of the present invention, soft machine armor can be configured to apply moment or torque at joint, with auxiliary or that suppression is relevant to this joint body kinematics.No matter moment is useful and assisted movement or harmful and suppress motion, and this motion can be the function of the structure of the sequential of application motion and the Connection Element of machine armor.Motion is usually directed to the reciprocating motion of periarticular body part, and can carry out supplementing with assisted movement to the power applied by muscle with the applying of the outside moment of appropriate time in particular directions.The identical moment applied when joint connects in the opposite direction can be resisted the power that applied by muscle and produce opposing to motion.
The link of soft machine armor deviates from the center of rotation (such as, larger-diameter lower limb can make soft machine armor further from center of rotation) in joint naturally by natural body structure.In at least some of the present invention, distance piece is (such as by using such as this distance, fabric, foam element and bedding and padding etc.) etc. the active member such as passive device or such as actuator increase, to increase the distance between soft machine armor and the health of wearer, or dynamically increase the distance between soft machine armor and the health of wearer when this active member.In addition, because joint is relative to each other moved, so the action route of one or more soft machine armor link can change relative to joint, thus change moment is the power applied along this link.In addition, in response to the power applied, node and/or anchoring element can be caused to move during the operation of soft machine armor, and this also can change the action route of one or more soft machine armor link.Such as, when lower limb moves through the 30%-70% of gait cycle, the link 107 (such as, see Fig. 1) extended between thigh support part 120 with footwear Connection Element 130 (such as, with reference to figure 2A) can change the position relative to knee rotating shaft " A ".The relative change of the position of link 107 changes soft machine armor within these stages of motion and can be applied to the moment of knee joint or knee joint both sides.Therefore, when tension force is applied to link 107 between the 30%-70% of gait cycle, link 107 provides the little moment making knee extension at the 30%-40% place of gait cycle, be in knee at 50% of gait cycle and provide moment hardly, and provide larger moment at the 60%-70% place of gait cycle.
In at least some of the present invention, shank Connection Element 107 is arranged to arrange in relative to each other asymmetric a little mode, wherein, outside (outside) shank Connection Element 107 is arranged to the side being after a while positioned at knee rotating shaft A, and inner side shank Connection Element 107 is positioned at the side slightly before of outside (outside) shank Connection Element or the side slightly before of knee rotating shaft.This structure contributes to pulling force and is directed across knee center of rotation exactly always.Dynamically, early stage in gait, inner side shank Connection Element 107 is positioned at the side slightly before of knee center of rotation, and outside shank Connection Element 107 is through knee center of rotation or the side being after a while positioned at knee center of rotation, in the later phases of gait, this reduce the effective force moment arm (and moment) around knee.
In at least some of the present invention, soft machine armor 100 is configured at one end (such as, via belt 100 or the equivalent link being positioned at waist) be anchored at shoulder and/or hip place and the other end (such as, via footwear Connection Element 130) extends across multiple joint while being anchored at heel.Footwear Connection Element 130 can comprise any be connected to the footwear of dress outside, the foot being connected to user and/or be arranged in the Connection Element of footwear inside of dress.In this example, soft machine armor 100 structure comprises first connecting element 104 with length (S1) between belt 110 and thigh support part 110, and wherein, thigh support part itself has length (S2).Second connecting element 107 with length (S3) is attached to the bottom of thigh support part 110, extends and be connected to footwear Connection Element 130 along outside gastrocnemius.Change according to angle in the hips during movement changes by the length (S1) of the first connecting element 104.Due to thigh support part not extending, so the length of thigh support part 110 (S2) is fixed usually through in the part in any joint at health.Generally speaking, the distance between two anchor points (hip and heel) is the combination of length S1, S2 and S3, and the combined effect in multiple joint is desirably considered in the selectivity tensioning of soft machine armor.
According to the present invention, by understanding the sequential of the moment being applied to this group joint, soft machine armor can be configured to some or all of joints moment be applied in the mode of time control and coordination in one group of joint, to carry out supplementing to the moment produced by natural muscular movement and to enable health move with identical speed consuming the while that less metabolizable energy or recovery having the joint of the muscle function of minimizing ambulant.These moments can be produce with passive or mode initiatively.In passive structure, naturally move the tension force that can produce between the support feature of soft machine armor and Connection Element in soft machine armor, produces the moment of specific times with this within the period of motion at particular joint place.In initiatively constructing, the actuator of one or more generation power can be used to produce the tension force in soft machine armor, these tension force produce the moment of specific times within the period of motion at particular joint place.According to some embodiments of the present invention, soft machine armor can be configured to produce the power of supplementing the power produced by muscular tissue to health on one's own initiative He passively, to make with compared with the situation of auxiliarily carrying out moving, health can do less merit and reduce the metabolic exhaustion of given motion.This can be realized by following soft machine armor structure: this soft machine armor structure can use natural body kinematics to produce tension force in passive mode, and is combined the one or more actuators on one's own initiative soft machine armor being applied to tension force in a coordinated fashion.
In at least some of the present invention, soft machine armor is configured to from the motion of user, to absorb energy with the muscle mode that endergonic mode is similar from the motion of user of user.Such as, in each period in walking cycle, muscle absorbed power, with such as when the motion of the trunk suppression of while falling trunk forward under the influence of gravity, or preparing to make lower limb slowly when stopping.In order to absorbed power during these and other period, muscle can eccentricly shrink, and it stretches while applying power under externally applied forces.In order to reduce in these cases the amount of the power that (or when passing through muscle/tendon absorbed power when muscle equal length shrinks) muscle must apply and/or reduce the probability of soft tissue injury, soft machine armor can be located to apply and the parallel power that flexes a muscle at any time, may prove potential harmful or power that minimally is favourable from body absorption.Then, this absorbed power can be collected via energy accumulating device (such as, spring system and elastomeric element etc.), and be back to health at some time point (the subsequent point place such as, in gait cycle) after a while.For example, by carrying out compression to spring to collect absorbed power, the reduction in response to the compression stress applied is stretched by this spring subsequently.By using springlock or some other mechanisms optionally keep or lock by the spring compressed temporarily, keep under compression until when energy will be returned in soft machine armor system to make spring.In another example, absorbed power is collected by such as under type: absorbed power transfer is become electric energy and by this energy storage in the battery.Potentially, other device being suitable for given scope of design by such as (but being not limited to) hydraulic pressure, pneumatic or chemical energy storage etc. carrys out storage power.Energy storage from power absorption can being occurred by passive and aggressive mode at armor.In Passive Mode, energy storage can use driven member (such as, brake spring etc.), and in aggressive mode, soft machine armor can use these schemes above-mentioned or use following proposal extraly: the program is such as used for driving the same motor of soft machine armor to carry out direct pull actuator to generate the energy stored At All Other Times by rear drive.
As shown in Figure 2 A, such as, the footwear Connection Element 130 of shank Connection Element 107 pairs of engaging foot applies tension force.According to shank Connection Element 107 relative to kneed position, the tension force in shank Connection Element 107 can apply moment to knee joint.By shank Connection Element 107 is positioned at before kneed axle, tension force in shank Connection Element 107 can promote kneed stretching, extension, and by being positioned at after kneed axle by shank Connection Element 107, the tension force in shank Connection Element 107 can promote kneed flexing.Shank Connection Element 107 can be used to transmit tension force through kneed shaft alignement and in knee joint, not produce moment (useful or harmful).
According to passive configuration embodiment of the present invention, shank Connection Element 107 by nonelastic parts (such as, cable and tape etc.) or elastomeric element be connected to heel Connection Element, make during normal walking, the tension force produced in soft machine armor makes useful moment be applied in one or more leg joint (such as at reasonable time, hip, knee and/or ankle), to supplement natural muscular movement.Such as, normal walking step state causes stretching backward at about midway (50%) the place lower limb of gait cycle.Therefore, in soft machine armor, produce such tension force: this tension force extends to the below of the Connection Element 102-105 be positioned at before thigh from belt 110, and then extend to the below at rear portion of lower limb along shank Connection Element 107 around knee until heel tape.This tension force can produce auxiliary hip and stretch and the useful moment of auxiliary hip flexing subsequently in hip joint, and also discharge potentially except the active force from one or more actuator to be stored in energy due to this tension force time by lower limb driven forward.Except the Active Force applied by one or more actuator, this tension force can also produce the useful moment that the plantar flexion of ankle is also assisted in the dorsiflex of assisting ankle subsequently in ankle joint, and this makes foot push off in a forward direction.
According to active constructed embodiment of the present invention, by increase one or more in due course between pull heel Connection Element to carry out the motion of further assisted user with the driving part pushing off energy increasing foot on one's own initiative.In this embodiment, heel Connection Element can be connected to and pull heel Connection Element to apply driving cable or other driver part of useful moment around heel in the scheduled time.This driving cable or other driver part by directly or be connected to the motor or other actuator that are controlled by controller by intermediate transmission system, cause specific torque to apply power in the scheduled time.In one example, one or more footwear Connection Elements 130 that shank Connection Element 107 is connected to the rear portion being positioned at lower limb by cable (such as, comprising the Bowden cable of incompressible sheath substantially) are set.Thisly to be applied in for assisting the power pushed off can also assist the flexing of hip at ankle place.
It should be noted that one or more footwear Connection Element 130 can from the surface of footwear laterally and/or vertically displacement.Such as, footwear Connection Element 130 can be arranged on rigid cylindrical, buckstay parts or scalable beam parts, be connected to footwear rear portion, top or bottom, or be integrally formed with footwear rear portion, top or bottom.In this way, the position (such as, with increase force moment arm) of power relative to footwear of applying can be changed.
According to some embodiments of the present invention, soft machine armor is configured to be provided with multiple anchoring element, these anchoring elements be disposed in anchor point sentence allow soft machine armor engage with the physical feature serving as anchor point well of health.But, according to other aspects of the invention, following position can be desirably in and set up anchor point or the strong point: in described position, there is no this physical feature of health and the applying of load will have less desirable result usually.According to these embodiments, one or more Connection Element or pillar can be used from the strong point being arranged in desired locations power to be passed to diverse location on health, such as corresponding with the physical feature (such as, shoulder and crista iliaca etc.) on health one or more anchor points etc.
Such as, above in the described Bowden cable embodiment also illustrated in fig. 2, Bowden cable sheath can extend downward the position of facies cruralis posterior along the side of lower limb from the point the knapsack of user.Therefore, Bowden cable (or such as
the cable of other types such as board cable) the some place being positioned at the posterior calf of lower limb that can meet at itself and shank Connection Element 107 is secured to shank Connection Element 107, and the near-end of cable rope jacket is connected to the shell of actuator (comprising the Backpack type knapsack of drive motors and pulley system) to help to keep the tension force in machine armor.Similarly, as is described elsewhere herein, other type cable or driving element (such as, silk ribbon and fabric etc.) can be used and be expected the ad-hoc location of applying power from actuator (such as, by the passage in the fabric of soft machine armor or soft machine armor) guiding.
Then, can between Bowden cable sheath 144 is attached to point that the point of soft machine armor and center cable 142 be connected to soft machine armor 100 generation power.Therefore, in soft machine armor 100, can produce tension force at belt 110 and between the strong point as lower end of Bowden cable sheath 144, this end is connected to the ankle connecting element 113 at the rear portion place being positioned at lower limb.When the user walks, knapsack moves, and shank also moves, and this changes the distance between the near-end of Bowden cable sheath 144 and the far-end being provided with the junction point 113 of the lower connection member for soft machine armor of Bowden cable sheath, in this sense, this tension force can be dynamic.In addition, hip is also moved, and this changes the distance between anchor point on hip and the anchor point at shank place, and this distance can affect the tension force between the operating period in soft machine armor.
Therefore, by for applying to produce useful moment with the passive of the power of supplementing muscle movement and/or driving part to improve the useful moment of soft machine armor.By to will by the biomechanics of natural motion of assisting and in the process performing motion each joint the power that consumes analyze, can determine that supplementary moment is to receive assisting of aspiration level.
Such as, during normal walking, when in the process at driven forward health, support is transferred to another one leg from one leg by health, health consumed power.Being thered is provided by hip and ankle greatly of this power, has large positive moment at about 50% or midway place ankle of gait cycle.According to some embodiments of the present invention, by about 35% to 60% place at gait cycle, positive moment is applied to ankle to provide walking and assists.
According to some embodiments of the present invention, soft machine armor 100 becomes the natural motion that the strong point be more separated carries out each position identifying to make full use of health when can be designed to by being useful to the strong point be separated or the positive moment that is in application to one or more joint (such as, ankle).Soft machine armor 100 can be configured with the Connection Element extended at periarticular, to set up tension force by using one or more node or anchor point to produce about the useful moment of the axle in joint.In the example of Fig. 2 A, such as, soft machine armor 100 can be tensioned between hip (via belt 110) and footwear Connection Element 130, produces useful plantar flexion moment with the appropriate time during gait cycle at ankle place.In addition, following moment in gait cycle is of value to some place when hip and/or knee motion, and the tension force in soft machine armor can be directed in hip joint (this applies to promote the useful moment of hip flexing) and/or knee joint (this applies to promote the useful moment of knee extension).
By arranging one or more that can produce increase or extra tension force with the actuator of that provide increase and/or extra useful moment in soft machine armor 100 to save extra metabolizable energy.Such as, in the soft machine armor 100 in fig. 2, the heel that actuator cable 142 can be used for by pulling from the axial displacement of ankle joint several centimetres applies positive moment at ankle joint.As mentioned above, in one embodiment of the invention, cable is the Bowden cable comprising incompressible sheath substantially.In another embodiment, sheath itself is configured to such as by having storage and the flexible sheath released energy or providing dynamic property by making spring element be included in sheath.
As mentioned above, actuator cable 142 far-end by directly or (such as, via Connection Element) be indirectly connected to extending to underfooting side from heel and being wrapped in the anchoring element at the top of foot subsequently as shown in the example of Fig. 2 A.Drive motors and pulley system can be connected to the near-end of actuator cable 142, and at on-board controller (such as, computer) control under, drive motors is expecting that period period (such as, gait cycle 35% to 60%) drive actuator cable is to provide motion auxiliary.Advantageously, sensor (such as, foot contact to earth sensor and joint angles sensor) is synchronous with the gait cycle of user for making actuator cable 142 cable drive.As an example, by the force transducer in one or more connecting element, node or anchoring element, pulling force is sensed, come (such as by controller, can for several period of motion) monitor and assess these power to estimate gait cycle, subsequently, controller is in less or more period of motion or make actuator add work after the instruction of the enable actuating of user progressively.Alternately, controller is by such as from user or from the pulling force arrived by force sensor senses in tape (such as, controller can for the power in several period of motion monitoring tape) other feedback such as artificial input infer the gait of user, subsequently, activate can within less or more period of motion or after the instruction of the enable actuating of user oblique ascension step by step.
As previously mentioned, soft machine armor invention is herein extensible, to assist the metabolic exhaustion reducing various activities such as such as walking also to reduce the load striden across on the soft tissue (muscle, tendon and ligament) in joint by providing at the specified point place of activity.When aprowl (such as, walking) consumes less energy to user, the degree of fatigue of user is by lower than its degree of fatigue when not having auxiliary.Fatigue finally causes penalty (such as, the collapse of gait), and this may increase injured risk.The reduction of metabolic exhaustion can reduce the injured risk relevant with fatigue.According at least some aspect of the present invention, the metaboilic level of user can be reduced to the below horizontal of experience user carries out above-mentioned activity (such as, walk) during when not having soft machine armor by soft machine armor system.Soft machine armor is also by making a part for the power of each joint be born by soft machine armor the stress reducing to act on soft tissue.
Soft machine armor 100 as described in Fig. 2 A comprises multiple Connection Element, these Connection Elements such as comprise the dress material, fabric or the ribbon (such as, synthesis and/or natural fiber and aramid fiber (Kevlar) etc.) that are worn on below clothes or above.Actuating unit 200 can be worn on back (such as, in Backpack type knapsack, be attached to Backpack type framework etc.), waist (such as, be attached to belt etc.) or the device that used by user in or upper (such as, bicycle, wheelchair, kayak or canoe and walking device etc.).In fig. 2, Bowden cable unit 140 extends from actuating unit 200 and soft machine armor 100 is connected to footwear Connection Element 130.Be carried at actuating unit 200 in the device used by user or carried in such structure by the device used by user, advantageously, Bowden cable sheath 144 can be connected to mooring anchor solid point (such as, on belt 110), and then make sheath and Bowden cable 142 to downward-extension to be connected to footwear Connection Element 130.As mentioned above, soft machine armor 100 comprises one or more Connection Element (such as, 102-105 and 107), node (such as, 113) and anchor point, with the transmission of the health of control force along user, the health towards user and the health from user.Soft machine armor system 100 also optionally comprises foot sensor 150 or actuable switch, to sense in walking or the power that is applied to foot during other, thus carry out driving (turning on and off) at the some place of the roughly maximum, force corresponding with heel contact.The sensor that can be used in the determination of auxiliary gait such as includes but not limited to foot switch, Inertial Measurement Unit (IMU), accelerometer, electromyogram (EMG) sensor, for detecting the strain transducer of the strain at the chosen position place in user's skin, be placed in soft machine armor for detecting the sensor of pulling force in armor and/or shearing force, be arranged in motor or other actuators for detecting the sensor of actuator position, with sensor or other sensor for detecting the power in cable of the sections in series of Bowden cable or Bowden cable sheath
According to some embodiments of the present invention, soft machine armor 100 can comprise one or more far-end of the cable 142 of Bowden cable unit 140 that makes and be retracted into actuating unit 200 (such as, see Fig. 2 A to 2B) in sheath 144.The far-end of cable 142 can be connected to footwear Connection Element 130, and the far-end of Bowden cable sheath 144 can be connected to soft machine armor 100 after shank.When retraction cable 142, cable 142 upwards pulls footwear Connection Element 130 and sheath 144 promotes soft machine armor 100 downwards from the junction point be positioned at after shank.Then, soft machine armor 100 passes through Connection Element (such as, see Fig. 1) upwards transmitting force, until arrive the pelvis of user via belt 110.Power going down is then back to ankle joint and is passed to ground by foot by the bone structure of user.
Advantageously, the power produced by soft machine armor 100 is configured to be used for abreast supplementing the muscular tissue of user by the muscular tissue with user.This realizes by Connection Element (102-105 such as, in Fig. 1) and node (node 1 such as, in Fig. 1) being configured to extend along the precalculated position of health.When so constructing, because soft machine armor provides the remaining force needed for motion, so the muscle of user can be activated to lesser extent during some part of gait cycle.The metabolic rate that the minimizing of this muscle activation can be used in reducing user also reduces the Fatigued level experienced in time.
According to some embodiments of the present invention, by power being applied to health while muscle generation power and reducing by realizing metabolism when muscle absorbed power from body absorption power.Ankle produces large pulse power extending between about 40% to 60% in the gait cycle of next heel contact from a heel contact.When health is pushed off ground by lower limb, be the peak power outburst in whole walking cycle among any joint at this power of ankle place input.According to some embodiments of the present invention, auxiliary force or moment can be applied to as hypozygal thus realize metabolism in an efficient way and reduce: the some place that this joint muscular tissue within the period of motion produces maximum power peak stands those maximum power peak.Such as, according to the present invention, based on the assessment of joint power, soft machine armor 100 can be formed at gait cycle about 40% to 60% between time point during auxiliary force is applied to ankle joint.
According to some embodiments of the present invention, soft machine armor 100 can extend upwardly to pelvis from ankle and can produce moment at knee, hip and ankle extraly or alternately.In multi-joint system, the power of applying can affect each joint valuably, thus provides more effective auxiliary.According to these aspects, soft machine armor 100 in gait cycle, can be engraved in knee when following moment can affect knee and hip valuably and/or hip produces moment.Therefore, natural motion and/or a position/joint produces the actuator of the displacement of tension force or soft machine armor can be useful to multiple position/joint.
According to some embodiments of the present invention, soft machine armor 100 can provide multiple function.Soft machine armor (such as, 100) can produce the useful moment of the accurate control through such as hip and/or ankle joint.As previously mentioned, if the muscular tissue of certain moment assisting natural, then this moment is considered to useful.Desirably, the soft structure of machine armor that discloses of the present invention and the topological structure of Connection Element are configured to imitate as far as possible best the close force vector of the power that provides with the muscle by user.
According to some embodiments of the present invention, soft machine armor is optimized to and makes maximizing stiffness (such as, it being banded in securely the anchoring element at the anchoring position being positioned at health).For the low serial spring rigidity in ankle ectoskeleton, the power of needs increases with 1/k.Therefore, expect to make soft machine armor hard as much as possible, to provide higher power efficiency when auxiliary force being applied to wearer.In addition, reduction soft machine armor during movement and/or during driving relative to the displacement of the health of user, thus is reduced the risk of node and Connection Element misalignment and reduces scratch by high machine armor rigidity.But, be contemplated that, various application is by the minimized rigidity of favor and/or can carry out changing (such as based on the activity of user, make rigidity minimize and improve imperceptibility when not needing auxiliary, and make maximizing stiffness when needing auxiliary) stiffness variable (such as, automatically being changed or Non-follow control by controller).
The cooperation of soft machine armor 100 and rigidity thereof all can be subject to the tension force of machine armor and the impact of aligning.If soft machine armor due to initial setting up or soft machine armor 100 during use movement and aimed at improperly, the moment then produced will not be best, and the more important thing is, because moment stops producing when needed, thus moment may show be disperse along with the time or or even harmful.Even if it is desirable that, when the user is mobile and when drive soft machine armor time, soft machine armor 100 also remains on the correct position on health, in order to avoid the function of soft machine armor or efficiency affect adversely.Conveniently make soft machine armor 100 remain on correct position during use, advantageously, after the soft machine armor of wearing, apply pretension to soft machine armor (such as, actuator cable and Connection Element etc.).Can manually (such as, by adjusting tape, buckle, accessory, cable and the control device etc. of tension force that adjusts in multiple parts simultaneously) or by using one or more actuator (such as, motor driving type mechanism) automatically to adjust initial tension in soft machine armor.
In at least some of the present invention, soft machine armor 100 comprises one or more adjustment component and dresses to facilitate and take off soft machine armor 100 and user tightened and/or unclamps one or more Connection Element to make soft machine armor comfortable next to the skin, and described adjustment component can be manual and/or automatic.Such as, advantageously, use adjustment component manually or automatically to retract and/or tensioning is positioned at being pulled down by soft machine armor 100 of sheath 114 inside and by the cable 142 that be connected to adapter 113 (itself and then be connected to anchor part 130) of anchor part 130 to pull-up, this makes cable 142 without any lax and produce tension force in a small amount in systems in which.According to some embodiments of the present invention, tension force can be set as the existence that almost can't detect machine armor during motion (such as, walking) by user.Then, can drive from that point of system tension soft machine armor 100.
According to some embodiments of the present invention, the actuator drive components such as such as Bowden cable are used to the quality of drive system 200 (Fig. 2 A and 2B) to be positioned to away from just driven foot and ankle joint.By using this kind of driver part, drive system 200 can be connected to the waist of user or be carried in knapsack.According at least some aspect, the drive system 200 of Bowden cable is used to allow for cable rope jacket along extending the path had a negative impact of moving of user.There is the method that much sheath 144 of Bowden cable can be attached to soft machine armor.For example, an attachment scheme of sheath comprises: male/female type connectors is arranged on one or more points of soft machine armor, and corresponding parent form/male connector is arranged along the suitable part of cable rope jacket.In another structure, cable rope jacket 144 can be fixedly connected to soft machine armor (such as, sewing, binding agent and adhesive etc.), formed route by the formation passage in soft machine armor, by using velcro (Velcro) link to be connected to soft machine armor or being connected to soft machine armor by the one or more lashing part of use.
Such as, when drive system 200 uses Bowden cable, pinion motor is set and carrys out drive pulley, or alternately, as shown in the example in Fig. 2 A, the comparatively heavy motor of directly drive pulley can be used to pull cable 142, to apply auxiliary force to heel.Certainly, also can use other driving mechanism, these driving mechanisms include but not limited to linear electric motors and hydraulic/pneumatic actuator.The mode of drive system 200 used partly depends on the motion that will assist and for this auxiliomotor concrete weight and performance requirement.According to some aspects assisted for walking, actuator system 200 uses the one or more batteries being configured to provide the mean power being less than 100W to export, and this makes the minimize weight of the drive system 200 of soft machine armor 100 while keeping metabolic benefit.Such as, the additional mass of being carried by user makes the metabolism of user increase (such as accordingly and predictably, often to increase the speed that one kilogram increases about 0.9% at back), so when being dressed by user, minimizing of the weight of drive system 200 is normally useful.
Fig. 3 shows the example of the soft machine armor 100 according at least some aspect of the present invention.As shown in the figure, soft machine armor 100 comprises belt 110, and belt 110 is connected to Connection Element 104 and 105 by Connection Element 102 and 103 through node 1, wherein Connection Element 104 and 105 and then be connected to thigh support part 120.Thigh support part 120 is connected to T adapter 113 by shank tape 107.Soft machine armor 100 can be manufactured into can adjust to adapt to the natural motion of user and to make the power produced by drive system 200 and cable 142 (such as, see Fig. 2 A) coordinate mutually with the power of natural motion.When the user walks, by produced by drive system and the power being passed to cable is applied to the heel of user, to reduce the muscular tissue work when walking of user.
Walking and run period, in order to driven forward people barycenter and resist gravity with posture of being kept upright, the muscle in lower limb in gait cycle hip joint, knee joint and ankle produce moment.In order to guide people receives the stage through stance to pushing off and entering recovery phase from heel contact and weight, along with these moments are produced by these periarticular muscle, they change in time at size and Orientation.As mentioned above, soft machine armor system 100 according to aspects of the present invention desirably uses the natural moment of power to ankle produced by drive system 200 and cable 142 to supplement, thus reduces metabolic burden and improve mobility.In certain aspects, soft machine armor 100 structure also extends at hip joint and knee joint peripheral, to provide useful moment at hip and knee place during gait cycle.During gait cycle, when drive system 200 retract cable 142 and power is applied to the foot of user time, sheath 144 also applies downward power to T-shaped adapter 113 and soft machine armor 100, and then useful moment can be applied to hip or knee by soft machine armor 100.
According to some aspects, the power being applied to the T-shaped adapter 113 of soft machine armor 100 causes between T-shaped adapter 113 and belt 110, producing tension force in soft machine armor.Node 1 and thigh support part 120 contribute to the tension force on knee and hip is aimed at, to provide useful moment at each joint.For the adult of health, the power major part walked with the speed of self selective in level ground is all produce at hip and ankle place and be dissipated at knee place.And then muscle consumes metabolizable energy and produces these moment.As mentioned above, a benefit of the aspect of soft machine armor presently disclosed is: reduce the metabolic exhaustion of walking by increasing energy at ankle place to assist plantar flexion during push off, and assist during the later stage of standing at hip place absorption energy and increase energy during the part more after a while of standing.The power that the increase of the energy at ankle place can reduce to produce the large muscle activation needed for ankle moments and push off place and need, and thus reduce required metabolic exhaustion.For reducing the metabolic exhaustion of walking, soft machine armor presently disclosed advantageously allows natural gait dynamics.Soft machine armor some in, by upwards pulling heel and promoting and/or the cable that causes vola to stretch provides the energy putting on ankle place.Power from cable rope jacket 144 is upwards distributed by the Connection Element (such as, see Fig. 2 A) of soft machine armor 100.
Belt 110 is connected to the thigh support part 120 (it is fixed to the lower leg and thigh of user) be connected with footwear (such as, boots and shoes etc.) Connection Element 130 by soft machine armor 100 structure as seen in Figure 3.Belt 110 and thigh support part 120 are connected with the interactional Connection Element 102 and 103 of node 1 by the front middle part of the thigh user.Thigh support part 120 and footwear Connection Element 130 are connected by Connection Element 107 and at the cable 142 of ankle place applying actuator force.In order to any of efficient operation that will suppress in removal system relaxes, such as can come pre-tensioner Connection Element 102 and 103 between belt with node 1 and the Connection Element 104 and 105 between node 1 with thigh support part 120 in the following way: together with pull both sides and at desired locations place, they be connected with velcro (Velcro), or to pull in the side of opposite side through slideway or bracelet.Such as, can be fixed on appropriate location at node 1 and thigh support part carries out the pre-tensioner of Connection Element 104 and 105 after having been located about the thigh of user and tightened.Therefore, soft machine armor 100 is at thigh (thigh support part 120) and pelvis (belt 110)) between pre-tensioner, wherein, thigh and pelvis be all conical shape and therefore to applied pretension produce opposing.
When such as applying power at ankle place by Fig. 2 A to 2B and soft machine armor 100 depicted in figure 3, tension force also can by again above soft machine armor directed knee and the hip joint of striding across until pelvis.Because Connection Element is by (further) tensioning, so they produce moment and produce normal force at each place that soft machine armor-user contacts to user around hip, knee and ankle.According to some aspects, advantageously, soft machine armor 100 is fitted with user and is aimed at, and makes user consume the adverse effect of extra metabolizable energy to guarantee that these moments and power can not produce the natural gait of user.The layout of Connection Element, node and anchor point and orientation are selected to and produce useful moment when tension force is applied to each element of machine armor around in the joint (such as, hip, knee and/or ankle) paid close attention to
Along with the rigidity of soft machine armor 100 increases, soft machine armor can better not only to provide the auxiliary of aspiration level but also make the minimized mode of dislocation of the building block (such as, node and Connection Element etc.) of soft machine armor transfer a driving force to user.As mentioned above, soft machine armor 100 such as can advantageously rely on the rigidity that one or more anchor point (such as, pelvis and shoulder etc.) improves machine armor in the following way: being exerted all one's strength by top belt 110 being placed in crista iliaca (it is provided for distributing the dissection rib ridge of power of below and medial/lateral) is carried by pelvis.As shown in the example of figure 1, the power produced in lower limb is passed to each side of pelvis by soft machine armor 100 by the Connection Element 102 and 103 being all derived from node 1.If Connection Element 102 and 103 by power from (such as, every bar lower limb) node 1 is dispensed to the both sides of pelvis, the pelvis bone being then anchored at the same side with whole driving force is contrary, next self-driven power can be assigned to the both sides across pelvis, it reduces the peak dot power on each crista iliaca and improves soft machine armor comfort level during use.In addition, by using, node 1 is connected to the Connection Element of the hip of opposite side (such as, in Fig. 1 103), be connected to the angle of the hip of opposite side due to this Connection Element, soft machine armor can produce horizontal force and vertical force to the crista iliaca on opposite.Because this horizontal force helps belt to lean against the top of crista iliaca, so it contributes to stoping belt 110 slide downward.
As shown in Figure 7, the power on Connection Element 1 (belt) is substantially horizontally transmitted around health, and the power on Connection Element 3 is then downward-sloping.These two Connection Element combineds effect and the force vector obtained are between these two vectors and be approximately perpendicular to pelvis (when observing on the sagittal plane of health, pelvis is circular in the region).Can while applying large load, Connection Element be remained on appropriate location with pulling of vertical body, and avoid causing the motion in uncomfortable tangential direction.
The position of the node 1 in Fig. 7 makes to catch next power by the point imported into by route each lower limb from ankle, is then re-booted to every side of pelvis.According to certain aspects of the invention, by adjusting the direction of the power being applied to belt to Connection Element adjustment node 1 being connected to belt 110, node 1 can control the moment that soft machine armor 100 produces on each joint.
Thigh support part 120 can be configured to keep the tension force in soft machine armor 100 in the following way: make shank Connection Element 107 (such as, see Fig. 1) can slightly tilt to adapt to their positions relative to the center of rotation of knee.Shank Connection Element 107 can be connected to footwear Connection Element 130 via actuator cable 142.Footwear Connection Element 130 can comprise can serve as footwear (such as, boots and shoes etc.) heel around the element (such as, tape etc.) drawing cover.Footwear Connection Element 130 can provide and being rigidly connected and power being assigned on footwear of the foot of user.Such as, when actuator cable 142 applies power upwards at footwear Connection Element 130 place, this power is passed to the front portion (power is upwards applied in the rear portion of heel and downward power is applied in the top of the forward foot in a step) of the bottom of foot and foot by the system of Connection Element or material.Footwear Connection Element 130 is that actuator cable 142 provides rigid connecting contact at heel effectively to apply power at ankle place.Footwear Connection Element 130 also assists plantar flexion moment in the following way when pushing off: driving force be upwards passed to the rear portion of heel and be also passed to the front portion of foot (here, it applies downward power on the top of foot), thus the power of auxiliary plantar flexion is applied with in the both sides of ankle.
In at least some, soft machine armor 100 by be cut or be otherwise formed preliminary dimension and the flat material be stitched together (such as, ribbon and fabric etc.) is configured to.Fig. 4 shows the example of the plane mode layout of the soft machine armor according at least some aspect of the present invention.Belt 110 can be formed as some parts, the same with traditional Lap belt anchorages, and these parts can the superimposed and fixing people to make belt be applicable to various waist size.Such as, part shown in Fig. 4 or panel can be configured to by adhesive lining layer of cloth and one or more layers anti-nylon (rip-stopnylon) that tears or be configured to by one or more layers anti-nylon and one deck foam pad (such as, the polyurethane of 1/16 " to 1/2 " thickness or ethane-acetic acid ethyenyl ester (EVA)) of tearing.Connection Element can be such as configured to by the polyester ribbon of 1/2 "-3 " thickness.In an aspect, Connection Element 102 and 103 is by 2, and " wide polyester ribbon is formed, and " wide polyester ribbon is formed to remain Connection Element then by 1.Some Connection Elements (such as, the far-end of shank Connection Element 107) can be sewn to form ring, thus convenient and other Connection Elements or structure connection.Bracelet (such as, plastics bracelet) can be used for fastening and fastens Connection Element.Thigh support part 120 can comprise one or two pieces and by having the hook that is sewn onto side and ring fastener (such as, at least some
) stretch twill material (such as, cotton-polyester fabric blend fabric) form.
Fig. 5 provides the illustrated examples of the Connection Element of the soft machine armor can how arranged and construct according at least some embodiment of the present invention.In Figure 5, the different Connection Elements of soft machine armor comprise tape 1 (belt Connection Element), tape 2 (node 1 to homonymy hip Connection Element), tape 3 (node 1 is to arriving offside hip Connection Element), tape 4 (thigh Connection Element-outside), tape 5 (thigh Connection Element-inner side), tape 6 (thigh Connection Element is to the Connection Element-outside of shank), tape 7 (thigh Connection Element to shank Connection Element-inner side), tape 8 (shank Connection Element-outside) and tape 9 (shank Connection Element-inner side).
In Figure 5, belt is shown as flat, this present the side back to user.This view provides belt and is directly connected to the general view of Connection Element of belt.According to some embodiments of the present invention, belt comprises to be connected in end enables belt be fastened to the Connection Element of the section of user and the top belt Connection Element of bracelet and bottom belt Connection Element, wherein, between any contact point (such as, crista iliaca) on belt and health, there are foam or other bedding and padding.As shown in Fig. 5 and Fig. 6 B, the Connection Element 2 of Fig. 5 and the top of the node 1 that be connected sagging from belt 110 with 3.The Connection Element 4 and 5 of Fig. 5 is sagging and be connected to the top of thigh support part 200 from the bottom of node 1.In Fig. 6 A to 6B, in order to illustrate, the soft machine armor shown in part in Fig. 5 is shown on body model.
Belt 110 stops soft machine armor to be left behind under vertical force or because of by thigh support part being connected to the angle of Connection Element of pelvic of machine armor and the horizontal force produced and sliding on crista iliaca.Also by tighten up belt Connection Element prevent belt due to the tension force existed around pelvis slide downward.This object is realized by producing tension force around pelvis (belt a part on the top of the crista iliaca of hipbone by).Pelvis is used as the support or the anchor point that are upwards transferred through the power of the Connection Element arrival belt 112 of soft machine armor 100 from the T-shaped adapter 113 of ankle.
According to some embodiments, compare with other bony landmarks such as shoulders with such as knee, pelvis has relatively little range of movement in whole gait cycle.In whole gait cycle, pelvis altogether rotates on the transverse section of about 12 ° at it and has maximum movement.By contrast, knee moves about 50 ° on sagittal plane, and the movement of shoulder then highly depends on the user's attitude at any given time.Therefore, according to the present invention, the use of pelvis is conducive to the embodiment according to soft machine armor 110 of assisting mainly for gait of the present invention.The periodic property of the range of movement of the pelvis in whole gait cycle and the position of lower limb each several part makes the distance between gait cycle midpelvis and lower limb each several part be highly foreseeable, and this contributes to the suitable anchor point selecting to keep the tension force of soft machine armor 100 particular moment in gait cycle.In addition, pelvic structures defines the rib ridge that effectively can connect belt 110, thus not only anchoring vertical force but also anchoring horizontal force.
The rigidity section ground of soft machine armor 100 is determined by the compliance (compliance) that user-soft machine armor connects.The compliance connected between user with soft machine armor 100 is lower, and soft machine armor rigidity in operation is higher.By being anchored to the stable and feature of low compliance, higher power can be passed to the health of user by soft machine armor.In addition, the symmetry of pelvis enables load be uniformly distributed on the health of user.By distributing the driving force to every side of health, can reduce to act on the normal force of health at any point from soft machine armor, this contributes to pressure ulcer (pressuresore), rubbing and touching the formation rubbed minimizes and thus the sensation comfort level of increase machine armor.As previously mentioned, at least some of the present invention, driving force also can be dispensed to one or more other positions (such as, trunk and shoulder etc.) on health by (or alternately by).
In at least one, belt 110 comprises top belt Connection Element and bottom belt Connection Element, top belt Connection Element is disposed in (position being positioned at the top leaning against crista iliaca on the belt Connection Element of top is optionally provided with foam bedding and padding) on the top of hipbone, and bottom belt Connection Element is arranged to just be positioned at below crista iliaca.These two Connection Elements combine and provide stable connecting platform.
Pelvis provides the minimized anchor point of suitable compliance for making soft machine armor at crista iliaca place.As mentioned above, advantageously, soft machine armor utilizes the following geometry of pelvis: it provides the rib ridge that belt can lean at crista iliaca place.This makes to get final product anchoring vertical force again can anchoring horizontal force.Also resist horizontal force by the Connection Element (such as, bottom belt tape) around pelvis.The reduction of compliance makes the rigidity of soft machine armor higher, and this can be of value to and effectively power is applied to soft machine armor and wearer.When soft machine armor reaches the rigidity of certain level, protection user can be of value to from the impact being passed to their power via soft machine armor.The such as bedding and padding such as laminate fabric or foam pad can be used to these power is propagated the larger surf zone throughout user and provides the resisting medium of the impact reducing these power.But this bedding and padding compliance in increase system thus becoming may will carry out controlling making compliance and rigidity optimization thus another variable of the balance of implementation efficiency and comfort level.
In at least one, node 1 (such as, see Fig. 1, Fig. 5 and Fig. 6 B) such abutment can be constructed to: at this some place, drive the power of generation meeting coalescence subsequently to upper separately to be assigned to every side of the pelvis of user by the ankle on the lower limb of each correspondence.The pulling force of retentivity balance and soft machine armor 100 can be of value to the adjustment of the position of node 1 on user's thigh.Can via thigh support part 120 being connected to one or more tapes of belt 110 of soft machine armor to distribute power.
As shown in the example of Fig. 1, Fig. 6 B and Fig. 7, according at least some aspect of the present invention, node (such as, the node 1 in Fig. 6 B) is placed in the centre of the frontal plane of thigh, and adjusts by Connection Element 2 and Connection Element 3 as shown in Figure 6A.Can adjust node 1 being arranged vertically on thigh according to the distance at the size of user and the top from node to thigh, node 1 being arranged vertically on thigh changes with user, but usually makes it can not hinder hip flexing enough downwards.Verify suitable being arranged vertically by such as under type: the user making to wear soft machine armor after setting node location their hip bending to check whether node hinders hip flexing.The layout of node can be used for aiming at and adjust the power path in soft machine armor 100 in the best way, and according to certain aspects of the invention, this can prevent or reduce the relevant problem rotated due to force unbalance to thigh support part 120.The power path aimed at inadequately may form the unwanted moment that may cause factitious motion, muscle fatigue and ache at hip and knee place.By the use of node 1 (such as, see Fig. 5, Fig. 6 B and Fig. 7), because ankle drives the power that produces controlled with linear path in be passed to before thigh from ankle, be then dispensed to the either side of pelvis further.Using and access the Connection Element of an abutment (node) in this way, making it possible to by tightening, the lax or described Connection Element of reorientating on machine armor to adjust more in phase tension force path around hip and knee.This makes it possible to control better the moment that soft machine armor produces at hip and knee place and finely tune in whole gait cycle.
According to some embodiments of the present invention, use the particular configuration of soft machine armor of node 1 to contribute to realizing than without the much higher machine armor rigidity of this node, this is because power path to be anchored to every side (can realize much higher machine armor rigidity here) of pelvis by it.The use of node 1 makes soft machine armor 100 can be assigned on pelvis by power, much bigger in the rigidity of pelvis place belt, and this causes soft machine armor can keep higher power while bearing very little displacement.Connection Element node 1 being connected to belt 110 can be fixed to the position of node when it is restrained in inner side, outside and vertical direction.Connection Element 4 and 5 (such as, see Fig. 7) can be tensioned between belt 110 and thigh support part 120, set up the pretension in soft machine armor, this pretension by against pelvis downwards and against thigh upwards pre-loaded tension force improve the rigidity of soft machine armor.By striding across the correct prestrain produced because of tensioning Connection Element 4 and 5 producing comfortable tension force qualitatively to realize before thigh, described tension force can adjust according to the comfort level of user (it changes with user).
According at least some aspect of the present invention, belt 110 (such as, see Fig. 1) plays the best use of when tension force is kept in the waistband which.If belt 110 is not by suitable local tensioning, when applying to drive, soft machine armor 100 is by sagging.
Expect suitable being arranged vertically of belt 110, to keep suitable soft machine armor rigidity.According to some embodiments of the present invention, soft machine armor 100 uses hyperpelvic crista iliaca as the anchor point of the most of power for acting on user.If belt 110 is not supported by crista iliaca, then soft machine armor 100 may not provide the initial stiffness of as much, unless belt 110 is supported by the further feature of health.If the position of belt 110 is set too low, or become too low during use, then it may hinder the hip motion of user, thus causes discomfort (such as, the pain of hip flexor) and reduce the functional of soft machine armor.
During to the assessment in soft machine armor, inventor finds, in early days can cause hip flexor and mesogluteal muscle fatigue to striding across the tension force that hip produces during midstance standing.Standing in early days to during midstance, hip generation flexing, and therefore, in order to produce the moment of this flexing of opposing, tension force need being passed to before thigh in the below of the center of rotation of hip from the center of rotation of hip below.Therefore, if the Connection Element in Fig. 5 or Fig. 6 B 2 is by the below of the center of rotation of hip, then it may produce this moment.There are two kinds of possible Connection Elements 2 that can cause and produce the mode of these moments.The first node 1 is positioned at the low-down position of thigh.The second is, Connection Element 2 connects the more rear of belt.Once node 1 (see Fig. 5 or Fig. 6 B) is correctly positioned relative to the center of thigh, Connection Element 2 just can (such as, via
) be directly connected to belt.Once node 1 is correctly positioned, just can fix node 1 in the following way: by make Connection Element 2 from node 1 straight-line extension to belt (namely, guarantee that Connection Element and wearer keep level and smooth and flush) Connection Element 2 is connected to belt 110, which ensure that Connection Element 2 and belt have suitable connection angle.Usually, node 1 can be located in center, the pelvis inwardly about 10cm place of thigh in the horizontal, directly over patellar, and can be positioned in vertical direction immediately below the folding line between thigh and trunk.Connection Element 2 and 3 can extend to the side (side of crista iliaca) of pelvis in the same side of health and opposite side from this point respectively with being inclined upwardly.Outer connecting element 2 can become the angle of about 40 ° to 65 ° relative to horizontal line, and Connection Element 3 can have and horizontal correspondingly less angle.
If node 1 is positioned on incorrect horizontal level, then it will cause machine armor adversely to rotate.Such as, if node 1 (such as, see Fig. 1, Fig. 3 and Fig. 6 B) be positioned in the left side or the right of the centre of thigh, tension force then in soft machine armor is unbalanced for the symmetry of lower limb, this makes thigh support part 120 rotate up unbalanced side, shank Connection Element 107 is no longer correctly aimed at the center of rotation of knee, thus on user's body, creates incorrect moment.
In at least some of the present invention, node 1 is directly placed the position being positioned at below thigh flexing point several centimetres of thigh central authorities.Determine this near vertical position by such as under type: once located node with regard to make wearer bend them hip to check whether node 1 hinders hip flexing by any way.Nominally, node 1 is arranged close to flexing point, but not near to making node 1 hinder hip flexing.Because horizontal misalignment may make soft machine armor rotate undesirably, so node 1 should be positioned in the center of thigh in the horizontal direction.Once node 1 is correctly positioned relative to thigh, it is first by means of being fixed by making Connection Element 2 to belt, Connection Element 2 is connected to belt from node 1 straight-line extension, which ensure that Connection Element 2 has suitable connection angle relative to belt, second link 3 forms ring through the bracelet of node 1 and is connected, attention is guaranteed: when fixed connecting part 3, and node center position is not shifted.Being arranged vertically and being not so good as horizontally disposed like that most important to the function of soft machine armor of node 1.If node 1 is upwards arranged get Tai Gao on thigh, then node 1 will hinder the hip flexing of user, and this will be apparent.
According to some embodiments of the present invention, thigh support part 120 can be wrapped in around lower leg and thigh.In an aspect, thigh support part 120 comprises the two pieces linked together: former piece and consequent, and wherein, (such as, former piece can have user oriented hook and ring fastener
), and back to the hook of user and ring fastener (such as, rear panel block can have
).Shank Connection Element 107 can be placed in this two-layer centre and by hook and ring fastener (such as,
) be fixed on appropriate location.
According at least some embodiment of the present invention, thigh support part 120 is positioned in (preferably between about 4 to 5 centimetres) between about 3 to 6 centimetres of patellar over top, but this distance can change according to the physiology of user.Preferably, thigh support part 120, by location get Geng Gao, can carry out wider adjustment to allow shank Connection Element 107.For have the slight of stature that is low to moderate moderate muscle quality to medium figure user for, thigh support part 120 can be positioned in 4 centimeters above Patella.For the user with larger thigh diameter, thigh support part 120 can be positioned in 5 or 6 centimeters above Patella, to allow to correctly locate shank Connection Element 107.Therefore, the position of thigh support part 120 above the knee shank Connection Element 107 that can be selected to as being connected to thigh support part 120 provides suitable location and guarantees that shank Connection Element 107 does not hinder the range motion of knee.In addition, due to the usual larger size of top thigh more to lower limb, this enables shank Connection Element be avoided contacting knee area, thus avoids the scratch in knee area.
According at least some aspect of soft machine armor 100, position and angle that shank Connection Element 107 leaves lower limb support member 120 can be adjusted.This adjustable makes user can adjust soft machine armor, suitably to locate their specific physiological structure of simultaneous adaptation and the muscular tissue of shank Connection Element 107 in the center of rotation relative to knee.Be used to guarantee to produce correct moment at knee place to the position adjustment of the center of rotation relative to knee of shank Connection Element 107.
According to some embodiments of the present invention, thigh support part 120 by the equilibrium level load when soft machine armor is tensioned to promote the rigidity of machine armor.This horizontal load may be caused by the load path (it upwards marches to pelvis from ankle) tilted a little of soft machine armor.In the change in generation direction, thigh support part 120 place, to adapt to the correct location of shank Connection Element 107 relative to the center of rotation of knee.Because stride across knee joint to produce tension force when driving soft machine armor, so expect correctly to arrange shank Connection Element 107.According to the position of the center of rotation location shank Connection Element 107 relative to knee, the moment produced in response to this tension force can help or hinder user.In order to make the tension force of soft machine armor not have a negative impact to the natural knee moment of user, when driving, this tension force can be located along the same line with the center of rotation of knee or be positioned at a little before the center of rotation of knee.The angle that thigh support part 120 is left in the position of shank Connection Element 107 on thigh support part 120 and shank Connection Element 107 can be adjusted, the center of rotation of tension force and knee is located along the same line or is positioned at before the center of rotation of knee.
When the tension force in outside shank Connection Element 107 is applied to T-shaped adapter 113 (see Fig. 3 to 4) place, tension force in the inner side shank Connection Element 107 of the opposite side of lower limb is also applied in adapter 113, and these power on inner side and outer side shank Connection Element 107 are assembled at thigh support part 120 place.Shank Connection Element 107 all via fixed connecting piece (such as, bracelet,
with clasp etc.) be connected to thigh support part 120.The direction acting on the power of shank Connection Element 107 for by they each other pulling from and fabric tension force is applied between junction point that two shank Connection Elements 107 are connected to thigh support part 120.The bottom place that the tension curve obtained is found in thigh support part 120 provides the highest tension force (maximum vector) in thigh support part 120, and tension force reduces (less vector) along with the increase of the height the bottom from thigh support part.For some users, it is possible that because force curve not only depends on the direction of the power of applying but also depends on shank Connection Element 107 is relative to what angle of thigh support part 120 one-tenth, so horizontal force is by reverse for the top place at thigh support part 120.
Shank Connection Element 107 can be connected to thigh support part 120 and rear portion place at shank below muscles of leg block links together.The abutment that two bands meet below muscles of leg block is the point that Bowden cable sheath 144 can be connected to soft machine armor 100.As mentioned above, at least some of the present invention, can adjust the length of shank Connection Element 107, angle and the link position being connected to thigh support part 120, to adapt to the user of different physiological structure.In certain embodiments, have four kinds for providing the Dynamic gene of the correct layout of shank Connection Element 107, the primary and foremost purpose of each one in these variablees is correctly to locate shank Connection Element 107 relative to the center of rotation of knee.These four Dynamic gene are upright position above Patella of (1) shank Connection Element 107 leaves the position of thigh support part 120, (2) shank Connection Element 107 leaves thigh support part 120 angle, (3) thigh support part and (4) Bowden cable T-connecting piece upright positions relative to shank.
The factor above-mentioned can be adjusted for the thigh girth of user and thigh length.Allow this transmutability in the one or more factors in these factors (such as when the embodiment of the soft machine armor of at least some aspect according to the present invention, in the armor designed for specific user or have made to order, soft machine armor can not need to provide so follow-up adjustment) time, the optimal placement of shank Connection Element 107 is: when shank Connection Element 107 is tensioned, and they can not cause the moment will had a negative impact to the natural gait cycle of user at knee place.Guaranteeing that shank Connection Element 107 can not cause a kind of method of the moment had a negative impact to the natural gait cycle of user at knee place is make tension force through the center of rotation of knee, thus guarantees that soft machine armor does not produce moment on knee.But due to knee flexing and stretching, extension in moving on a large scale in whole gait cycle, and the instantaneous centre of rotating constantly changes, so this approach is difficult to realize.In addition, actual, the other method realizing this object allows to produce not to the moment that the natural gait of user has a negative impact.
In order to further illustrate the layout of correct shank Connection Element 107, be helpful to knee and the dynamic (dynamical) understanding of ankle.In at least some of the present invention, occur in gait cycle about 30% to gait cycle 62% between terminal stance and drive during swinging early stage and be configured to the soft machine armor of auxiliary walking movement.In the beginning of terminal stance (30% gait cycle), the contraction that gastrocnemius (muscles of leg) and musculus soleus (interior muscles of leg) increase them is gradually to resist the forward foot in a step vola musculus flexor moment increased, and storage elasticity can to rebound during heel lifts/push off (when it occurs in forward lean) in MT tissue.This action starts plantar flexion along with ankle when heel is lifted and increases, and pivoting point moves to the forward foot in a step.In addition, when it happens, knee flexing arrives its minimum point (about 5 ° at 40% place).When the force vector that the quality of health drops on forward the health that causes to fall and break is placed in the forward foot in a step being positioned at knee center of rotation front (this causes the passive stretch of knee), such reduction of flexing starts to occur.But this stretches the opposing being subject to rear side muscle movement (that is, due to knee and the action at ankle place the gastrocnemius of tensioning and be positioned at the popliteal flesh of knee joint).When reaching minimum flexion angle (40% gait cycle), knee starts to carry out flexing immediately, because at that place because heel lifts knee joint has moved to health vector front.Now, the rear side muscle before showing as opposing knee extension is then just promoting knee flexing and is being positioned at the health vector at center of rotation rear of knee, and thus promotes knee flexing passively.Terminate along with the initial stage of contralateral limbs contacts (50% gait cycle) terminal stance.Along with the beginning swinging early stage (50% gait cycle), weight is transferred to another one leg, and this makes knee freely bending (this is caused by the passive action of the action of the elastic recoil of heel string, rear side muscle and the health vector that is positioned at knee center of rotation rear).But if knee flexing occurs too fast, so rectus femoris just starts to make knee slow down, and this creates stretching, extension moment at knee place, therefore, the stretching, extension moment swung during early stage does not always exist, but depends on that how soon lower limb enters flexing.
From explanation above, will make about three main points striding across kneed tension force of soft machine armor during the driving stage.First, if this tension force appears at before the center of rotation of knee between 30% to 40% of gait cycle, so this will make the reduction that rear side muscle (gastrocnemius is with popliteal flesh) reduces in flexing more hardy.This sensation that will the user of wearing machine armor made to produce " tension force is too large ", but this makes up by more rearward position shank Connection Element 107 being moved to thigh support part 120.The second, if when tension force is positioned at before knee between 40% to 50% of gait cycle, this will resist knee flexing, and this knee flexing produces passively due to the health vector be positioned at after center of rotation and produces on one's own initiative due to rear side muscle at that time.Now, by it is advantageous that shank Connection Element 107 to be arranged to be located along the same line with the center of rotation of knee or be positioned at after the center of rotation of knee (because center of rotation shank Connection Element 107 being arranged in knee is above by overworked for muscle on rear side of probably making).3rd, if when tension force is positioned at before knee between 50% to 62% of gait cycle, it will resist the curvature movement of knee and the direct muscle movement of rear side muscle that produce passively due to the recoil of heel string.Although the flexing moment of knee is subject to the opposing of rectus femoris sometimes during swinging early stage, always this situation and stretching, extension moment desired in this part of gait cycle may not necessarily can not occur.
Advantageously, shank Connection Element 107 is securable to produce the natural walking cycle or the moment of other period of motion that do not hinder user for user's physiology widely.Determine that first challenge of suitable soft machine armor Connection Element location (such as, to realize the optimum balance of weight, power, metabolic effect, comfort level and different physiological variabilities etc.) is exactly the large size difference between individual human.Second challenge is knee pushing off before and after (50% gait cycle) from stretching the speed entering flexing in the end close to the driving stage.If the center of rotation rear of the too early migration knee of tape, so generation can be hindered the unwanted flexing moment of the natural gait of user.Therefore, at least some of the present invention, shank Connection Element 107 is oriented to be positioned at same straight line with the center of rotation of knee or is positioned at after the center of rotation of knee, to avoid disadvantageous moment.
According to some embodiments, shank Connection Element 107 is positioned such that shank Connection Element 107 is respective when wearer is in upright posture the position effective center of rotation through knee.This position is determined in the following way: surface anatomy structure is also observed in the abutment on every side of searching tibia between femur and tibia, identify suitable position respectively by the prominent bones portion on femur and tibia, be " mountain valley " extended in the longitudinal direction or depressed part between this prominent bones portion.If observe knee from the side, nominally the position of process is about 30%-40% of the distance of the dorsal part (rear side) of distance knee by shank Connection Element 1070.For some, situation so just.For other people (such as, fat person's people and muscular people), then by use approximate, experiment and error approach determine correct layout according to different situations.
Desirably, (namely soft machine armor 100 moment applied on the wearer reflect the moment that naturally produced by wearer, be equal to the moment about joint of the natural biology moment between moving period as far as possible), be not by that discover or unobtrusive substantially to make soft machine armor.When for particular moment motion from soft machine armor 100 joint moment may contrary with natural moment, soft machine armor 100 desirably makes the moment arm about joint minimize (such as, by making Connection Element 107 make knee moment minimization through knee center of rotation).
In at least some of the present invention, T-shaped adapter 113 place that shank Connection Element 107 is connected to soft machine armor at Bowden cable sheath 144 (such as, see Fig. 2 A) stops.According to some embodiments, T-shaped adapter 113 is positioned in below muscles of leg block.Muscles of leg is according to suitable and outstanding, and therefore, if T-shaped adapter 113 is positioned on muscles of leg when driving, then it will be trapped in muscle, thus the compliance added in system also stimulates to user.The compliance in the space below muscles of leg want much smaller and make shank Connection Element 107 on more straight route along shank decline instead of more in depth angulation to adapt to muscles of leg cube meat.If shank Connection Element 107 declines along shank with the angle larger relative to vertical direction, this can make the power path of soft machine armor more inefficent, because power path is expected to straighten when shank Connection Element 107 is tensioned.
In at least some of the present invention, shank Connection Element 107 is oriented to surround muscles of leg block, and this makes shank Connection Element 107 decline along shank on the route more straight relative to vertical direction.Directly be positioned to be located along the same line with the centrage of heel by the T-shaped adapter 113 of the end by shank Connection Element 107, can correctly locate T-shaped adapter 113 relative to horizontal direction.In order to correctly locate shank Connection Element 107 relative to vertical direction, Connection Element be adjusted to make T-connecting piece be positioned in footwear (if be installed with tiltedly) nominally top or make T-shaped adapter 113 be positioned at (this makes shank tape successfully surround muscles of leg block) below muscles of leg block.According to some embodiments, some more rigid parts can by softer more according to suitable parts replace.
One or more footwear Connection Element 130 is provided for providing the positive engagement with the foot of user.In at least one, footwear Connection Element 130 have the distal portion (such as, heel) that is arranged in boots and close end (such as, vamp and toe box etc.) around draw cover.The power upwards produced because of driving of heel is passed on the front portion to foot by this footwear Connection Element 130, and in the front portion of foot, this power applies downward power.The front portion by this way horizontal force being upwards passed to foot contributes to by the supplementary moment produced to promote ankle plantar flexion.
In at least one, footwear Connection Element 130 comprise be arranged to be wrapped in user footwear (such as, boots and shoes etc.) one or more links of the spatial peripheral of middle part (such as) around and between heel and instep of centre.As shown in the figure, footwear Connection Element 130 comprises the one or more links being arranged to be wrapped in around ankle, and these links provide constraint for stoping footwear Connection Element 130 to skid off from heel and by upwards tensioning to provide larger rigidity.Advantageously, one or more link is also arranged to restriction footwear Connection Element 130 and slides laterally and to the inside relative to footwear.In at least one, advantageously, the bottom margin of a link is placed in the about 0.5cm place of perimeter of heel.This location comes from the correct location of node 2.Footwear Connection Element 130 comprises the link as actuator cable (such as, Bowden cable etc.) junction point, and this link directly and/or by another link transfers a driving force to heel.Desirably, node 2 be set in vertical direction as much as possible close to heel bottom and on medial-lateral direction, be located immediately at the centre of heel.The centre that node 3 is placed on sole after a while face and its position is represented by the layout of node 2.
In an example of method of correctly dressing boots connector, first node 2 is placed on heel, then, one or more footwear Connection Element 130 is placed on the appropriate location relative to footwear, subsequently, sequentially adjust these footwear Connection Elements (such as, tensioning/lax) as required.
Footwear Connection Element 130 optionally but advantageously comprise one or more can (such as, by such as using
etc. tightening or fastening) by the securing member adjusted around with foot footwear Connection Element being fixed on wearer.
In at least some of the present invention, footwear Connection Element 130 comprises the sock structure that can be worn of extraordinary image socks.Alternately, footwear Connection Element 130 comprises and foldedly subsequently can enter structure (step-intostructure) with what surround foot, at the one or more securing member of folded position (such as,
deng) tightened or fasten with around foot footwear Connection Element 130 being fixed on wearer.In at least some of the present invention, footwear Connection Element 130 can comprise one or more fabric construction, and in this fabric construction, ribbon extends below the heel of wearer He above the forward foot in a step.
Footwear Connection Element 130 can be arranged on boots or shoes and provide the form of drawing cover of junction point for Bowden cable 142 actuator.These solutions are that cable 142 pulls to catch up with " boots the are outer " solution produced relative to heel power upwards at boots.Another aspect of the present invention comprises the footwear Connection Element 130 that use " in boots " power actuator produces the moment about ankle joint, and this footwear Connection Element comprises inner bottom and the cable guard shield of cable connection.In such an embodiment, in order to power is applied to wearer, in the shoes that cable extends to wearer or boots, one end of cable be fixed to the outside actuator of shoes (A) and the other end of cable by the target adhered to below foot (B) inner bottom being positioned at wearer of shoes inside.
In another aspect, optionally plastics or foam element are inserted between ribbon in the forward foot in a step and the foot of wearer, with than the pressure being used alone ribbon and more uniformly distributing on the top of foot.In another aspect, the ribbon (and selectable foam as above or plastics) on the top of midsole and foot and/or ankle is combined, with provide extra by transmission of torque to the path of foot.
Connect cable or ribbon at the lower rear portion place of inner bottom element, this provide the fixing point power of the point be applied on cable or ribbon being passed to the heel of wearer being positioned at ankle joint near-end on sagittal plane, thus create torque at periarticular.This inner bottom can be partial or complete inner bottom.It is desirable that, inner bottom has the reinforcing elements such as such as carbon fibre so that load is dispensed to heel.If use reinforcing element, inner bottom advantageously can be segmented the motion of the maximum magnitude allowed on the metatarsal ball of foot.In at least some of the present invention, the rear portion place of shank is provided with cable guard shield.In order to drive, cable needs to retract.When cable is compressed between boots and the lower limb of wearer, cause wearing and tearing and loss in efficiency due to the frictional force possibility between cable wearer and boots.Therefore, be provided for making cable freely the system of the open channel of movement be expect.
Of the present invention various in, sock footwear Connection Element 130 is connected to soft machine armor 100 via the Connection Element (such as, ribbon) at the top being connected to sock structure, and directly extends upwardly to the bottom of shank Connection Element 107.In another aspect, footwear Connection Element 130 comprises the heel cups being configured to be wrapped in heel (such as, the heel, heel etc. of wearer) surrounding.In another embodiment, footwear Connection Element 130 is included in a part for the foot of wearer (such as, heel) or the inner bottom insert entered in footwear of whole underfooting side, this inner bottom insert or above-mentioned heel cups are connected at rear portion and/or rear lateral part and leave footwear and the link (such as, ribbon) being connected to soft machine armor actuator cable.Desirably, any link being arranged in footwear inside comprises low friction sheath, low-friction coating or low-friction material, to make the minimise friction to wearer.In another aspect, footwear Connection Element 130 is included in the footwear sole insert extended below a part (such as, only heel) for the sole of footwear or the whole sole of footwear.At the rear portion of footwear sole insert and/or rear lateral part place, link (such as, ribbon and cable etc.) is set, to be connected to the link being attached to soft machine armor actuator cable.
According to some embodiments of the present invention, actuator 200 can also be used for reducing in the metabolic exhaustion of wearing according to walk during soft machine armor 100 of the present invention (or other motion or movable).Actuator 200 for expecting that the power of moment is supplemented, such as (for walking), the supplemental force to ankle during the toe when the ankle muscle of gait cycle produces peak power pushes off part.For example, for performing this action, motor can be used to produce necessary power/displacement and sensor 150 (the foot switch sensor 150 such as, in Fig. 2 A) can be used for sensing joint position and determines driver' s timing Bowden cable 142 (or other flexible transfer member (such as, but not limited to ribbon, ribbon material, belt or chain)) is upper.
Actuator 200 produces can stride across the power that one or more joint is passed to distally body part at least in part, power to be applied to such distally health (such as, by making cable 142 change distance etc. between point on the boots of user and the bottom of soft machine armor).Use can minimum level extend soft machine armor, this contract by distance produces pulling force in soft machine armor 100, footwear Connection Element (such as, boots connector) and cable 142.This pulling force can be applied to the position of the axle being offset from ankle joint and cause the moment around joint.As an example, system 100 can use flexible Bowden cable 142 that power is passed to soft machine armor 100 from the actuator actuating unit 200.Such as, as shown in Figure 2 A, at a distance or distally (such as, away from the knapsack of lower body part) rigidity and/or heavier actuator 200 can be installed.
In at least some of the present invention, the actuating unit 200 that can comprise one or more actuator that each limbs (such as, lower limb) can be controlled oneself by it drives.In another aspect of this invention, the actuating unit 200 comprising one or more actuator can controlled oneself by it in each joint drives individually.In another aspect of this invention, multiple joint can be driven by the actuating unit 200 that can comprise one or more actuator.
According to one embodiment of present invention, as shown in Figure 8-9, each actuating unit 200 comprises driving box 223 and pulley module 224.Actuating unit 200 is for driving Bowden cable 142 and for carrying out the gait (such as, see the foot switch 150 in Fig. 8) of sensing user by measuring heel contact contact.Bowden cable 142 is connected to the pulley 225 in pulley module 224 and is undertaken extending and retracting by the rotation of pulley 125.According to some embodiments, drive motors 222 comprises the actuating device 249 (such as, change speed gear box) of the driving torque for increasing the output shaft be connected with pulley module 224, with the Bowden cable 142 driving the motion for user to provide auxiliary.In other side, motor 222 is not had intermediate gearing by being directly connected to pulley module 224.Advantageously, drive motors 246 comprises encoder 248 or other position sensor of the position of rotation being configured to indication motor output shaft.Drive motors 246 and encoder 248 are connected to the electric machine controller in power for controlling drive motors, speed and direction.
According to certain aspects of the invention, the centralized electric machine controller for controlling multiple motor is provided with.Alternately, each actuating unit 200 comprises being configured to receiving sensor input and carrying out the resident system controller 250 of the operation of the drive motors 246 communicating to control this actuating unit with electric machine controller of it.System controller 250 (or selectively centralized electric machine controller) can comprise computer or microsystem (system such as, but not limited to Based PC/104 standard).Drive motors 246 is connected to the pulley module 224 of the pulley 225 comprising the near-end engaging Bowden cable 142 by directly or indirectly (such as, by gear train 249).
As shown in Figure 8-9, pulley module 224 comprises shell, this shell is applicable to engage Bowden cable sheath 144, to make when pulley 225 rotates in a first direction, Bowden cable 142 is wrapped on pulley and makes the far-end of Bowden cable 142 be retracted in the far-end of Bowden cable sheath 144, and when pulley rotates in a second direction, Bowden cable is from pulley unwinding, and this makes the far-end of Bowden cable 142 stretch out from Bowden cable sheath 144.In at least some embodiments, pulley 225 is closed in shell, makes when pulley 225 rotates in a second direction, and cable 142 is displaced and can be applied stretching force.
As mentioned above, at least some of the present invention, single actuating unit 200 can be used for providing energy to one or more limbs and/or one or more joint.As an example, can switch via the clutch between limbs alternately (such as, lower limb during walking normally out-phase) that power transmission (it makes use of the out-of-phase motion of relative limbs) realize to the power transmission that is separated limbs.
In at least some according to the present invention, soft machine armor 100 control system is configured to sensing or determines the gait (such as, via one or more sensor) of user and during the special time of gait cycle, drive drive motors 246 to pull Bowden cable 142 or to drive at the special time place of gait cycle (or other motion) another drive system being configured to introducing power.Predetermined point place during gait cycle can produce predetermined tension to the driving of drive motors 246 in soft machine armor 100, and this predetermined tension is applied for the power of auxiliary walking around ankle.The one or more sensors dressed by user (such as, one or more foot switch 150 and one or more joint angles sensor) be provided for signal to be sent to control system, synchronous with the gait cycle (or other moves) of user to enable control system make motor drive.According to each embodiment of the present invention, sensor can adopt various ways, comprises the sensor of the Angle Position of sensing particular joint.Such as, see the patent documentation WO2013/044226A2 owned together, the full content of the document is incorporated into herein by reference.According to some aspects, sensor is included in the pressure transducer of the pressure of gait cycle (such as, heel contact) period sensing foot or simple on/off switch.
According to a further aspect in the invention, one or more sensor can be taked to sense the form at the EMG sensor of the muscle activation of specific location.These patterns activated and scale can determine gait cycle (pattern) or required auxiliary quantity (based on scale).Detect (relative to point on wearer) relative or other sensor of joint position that (relative to ground) is absolute can be used for determining gait pattern, and therefore can be used for controlling actuator and activate.Other sensors can include but not limited to superelastic strain sensor, accelerometer, Inertial Measurement Unit, internal measurement unit (IMU) and/or goniometer sensor.These sensors or other sensor (individually or in combination) can detect the motion representing body position.According to the sensor used, the distinctive heuristic of this system (heuristics) can be developed for determining when power is applied to joint (such as by the muscle in health, ankle, knee or hip), reasonable time and then can be formed to make soft machine armor 100 and apply the power proportional with the muscular force of estimation.Such as, possible scheme is the speed by estimating each joint, use the approximate rigidity anthropometric dummy of wearer and estimate that the torque of each joint is to assess the kinetics of the health of user, the kinetics based on assessment determines the suitable tension force producing the useful torque obtained.
Replacement scheme will relate to the training stage side by side record EMG measure and sensor.After collecting these data, machine learning algorithm (function as sensor input) is used to predict when muscle shrinks.Then, in fact, do not use EMG sensor, but use trained algorithm based on sensor predicts muscle activation and tension force be applied to soft machine armor when suitable muscle will be activated.
Another program relates to by using EMG, the sensor detecting muscle diameter or some other devices directly to measure muscle activation.So soft machine armor 100 can with the proportional mode tensioning of the activation of the combination with some muscle or muscle.
According to some embodiments of the present invention, one or more foot switch 150 is disposed between foot and the sole of boots and senses heel contact, to provide the measurement of the speed of the gait cycle to user.Moment when foot switch or sensor land during gait cycle at first for the heel detecting every foot, and during control system uses and calculate gait from the signal of foot switch.The position (assuming that level ground and nominal data) at any point place of ankle in gait cycle can be estimated relative to the curve of time based on known ankle position.The ankle position estimated can be used for determining when retraction Bowden cable 142 and the soft machine armor 100 of tensioning.The soft machine armor 100 of tensioning can provide the moment around ankle during the toe of gait cycle pushes off part, and the power provided with supplementary muscle also reduces the energy consumed by user.
In certain aspects,
some other bindiny mechanisms are used for, after being manually pulled to expectation tension force, a part for soft machine armor 100 is connected to another part.Such as, have by using
node 1 (such as, see Fig. 3 and Fig. 5) is connected to belt 110 and thigh support part 120 by the Connection Element of securing member.Such as, in the figure 7, Connection Element 4 and 5 around by the bracelet on thigh support part 120 in bottom part ring, is then pulled upward and uses
or other fixed part fixes they oneself downwards.Alternately, Connection Element 2 and 3 is all by using
be directly fixed to belt 110 place and do not need to be fixed on belt 110 place around bracelet or by another fixed part or element.Another selects to be the nose portion using the ribbon (this prevent ribbon to deviate from after it is tightened up) through through hole button and manually strain ribbon.
According at least some aspect of the present invention, force transducer is used for measuring the tension force in each Bowden cable 142 constantly.Idle pulley 232 (such as, see Fig. 8) is biased for Bowden cable 142, and force cell 234 (such as, see Fig. 8) is for sensing the tension force of cable 142.Alternately, other device sensing cable tension or more generally flexible drive element tension force can comprise and is arranged in cable or flexible drive element apply force cell from the some place of power to soft machine armor.These measured values are recorded and for soft machine armor is automatically tensioned to suitable level.According to some aspects, the tension force of the soft machine armor that the detection of soft machine armor controller 250 (such as, system controller) causes due to natural body kinematics increases and this signal based on the increase of instruction tension force applies to drive via actuator 200.Therefore, in every respect, the power of soft machine armor controller constantly in monitoring machinery armor or with the power in the sample frequency monitoring machinery armor of the motion being suitable for user or activity.When soft machine armor due to the Geometrical change of the position of user by a small amount ground tensioning time, controller can sense that (little) power and drive soft machine armor suitably increase or reduce tension force.For walking, such as, by constant skew being applied to motor position signal to realize the tensioning of soft machine armor from control system.Certainly, extraly or alternately, handle one or more adjustment component (such as, tape, bracelet, clasp and Velcro connector etc.) by wearer and manually can realize tensioning.
In certain aspects, actuating unit 200 is configured to via such as Ethernet (such as, wired or wireless-WiFi), in the communication channel such as bluetooth, I2C or other open or dedicated channel with Local or Remote outer computer (such as, desktop computer or portable computer, panel computer or smart mobile phone) communication.Outer computer such as just starting actuator system control sequence when first time powers up, can adjust the controling parameters such as such as machine armor tension force, performing work up, transmitting software or even Long-distance Control actuating unit 200.In at least some, control system automatically starts when powering up and receives control inputs from the switch on the outside of actuating unit 200 or the wired or wireless Long-distance Control of hand-held or electronic installation (such as, smart mobile phone application program).In other side, control system is based on for detect or the intention of prospective users or the algorithm of programming in advance of action independently carry out operating and apply suitable auxiliary.
In an example control system structure, actuating unit 200 (such as, actuator in the example of Fig. 8) controlled by Diamond System (DiamondSystems) the Aurora single board computer (such as, processor 250) of the PC/104 form factor be connected with the analog-and digital-I/O expansion board of Diamond System (DiamondSystems) MM-32DX-AT.Computer can be powered from Unit 4 (14.8-16.8V) lithium polymer battery via DiamondSystemsJupiter power adjustments plate.The 50kg beam measuring load sensor 234 (Phidgets, product code 3135) using the idle pulley 232 in pulley module 224 to install senses the tension force in Bowden cable 142.Full-bridge deformeter on force cell 234 is connected to signal amplifier 242 (such as, FutekCSG110) by electrical interface (such as, pogo pin).By adjusting the output of amplifier 242 to each amplifier/force cell while known load is applied to force cell 234 to calibrating.Amplifier 242 exports the DC voltage of the 0-10V corresponding with the power on force cell 234.This voltage is read by the modulating output pin of MM-32DX-AT.Amplifier 242 can via the 14.8V battery powered of their on-board power actuator by PC/104.
According to certain aspects of the invention, can use and such as sense heel contact from the foot switch 150 (such as, Fig. 8) such as foot switch of B & LEngineering (product code FSW).Foot switch 150 can be sole shape piezoresistor.The terminal of the heel portion of each foot switch 150 connected respectively and be connected to the digital input pins of MM-32DX-AT.Be connected in parallel on each foot switch numeral input with+5V electrode (rail) between 1k Ω and 10k Ω resistor can upwards pull above-mentioned digital pin.When generation heel contact, the resistance between two terminals of foot switch 150 declines, and the voltage at digital pin place is decreased to about zero, and reads the change of state by MM-32DX-ATI/O plate.Foot switch 150 can be wired to and be inserted into 3.5 millimeters of audio jacks in stereo cable and the 3.5 millimeters of corresponding audio jacks in pulley module 224.The electrical connection being connected to foot switch 150 arrives PC/104 computer 250 by pogo pin interface.Audio jack allows foot switch easily to disconnect from the remainder of machine armor, and this is convenient to put on and take off soft machine armor 100.
In certain aspects, PC/104 computer 250 is connected to the gauge tap of the outside of driving box 223.For each driving box arranges on and off switch, to cut off the positive electricity line ball of PC/104 and electric machine controller battery.User's input is provided to the control algolithm just run on PC/104 computer 250 by lever type switch and two instantaneous trigger switches.Lever type switch can be used for making the walking mode of control algolithm to participate in, and instantaneous trigger switch can be used for left or right motor is rotated with the soft machine armor of tensioning until then of being expert at.These three user interface switches are connected to the digital input pins on the MM-32DX-AT of the pullup resistor with 10k Ω and share identical ground connection with PC/104.When driving each switch, numeral input is grounded and pin is dragged down.Substituting except case mount type switch or as case mount type switch, also can arrange the wired or wireless remote controller (not shown) of small handheld.The switch of remote controller can with the switch in parallel of chest be connected and copy function be provided.Substituting except user's input switch or as user's input switch, also other user interface system can be integrated in soft machine armor, these user interfaces comprise voice operated controls, touch screen, wearable computer or HUD (such as, having Google's glasses or the Wearable display of the such as retina such as wireless connections track pad or soft key sensing or other input).
According to some embodiments, driving box 223 comprises the EC-4pole30Maxon motor 246 be connected with CopleyControlsAccelnetPanelACP electric machine controller.There is the HEDL55403-channel encoder 248 often turning 500 countings of RS-422 digital signalling for feedback.For example, each electric machine controller provides by 4 unit (+14.8-16.8V) lithium polymer batteries of two series connection the electric power being total up to+29.6-33.6V.In example in fig. 8, electric machine controller is the electric power of motor supply up to+24V.AccelnetPanel electric machine controller 260 can receive the DC voltage between-10V and 10V, to change the angular orientation of pulley and tensioning or lax cable 142.The signal of-10V can make pulley rotate a circle in the counterclockwise direction from starting point when powering up, and the signal of+10V can make pulley deasil rotate a circle.According to some aspects, due to the only ability starter motor controller 260 when cable 142 is extended as far as possible in operation, so do not use negative voltage.In software, control signal can be restricted to and just prevent motor from moving to physics stopping and damaging system.
Control voltage can be generated from the modulating output pin of MM-32DX-AT.For guaranteeing stable motor operation, send voltage signal by low pass filter.This wave filter can comprise R=68 Ω and the RC monopolar configuration of C=47 μ F, and provides the cut-off frequency of 48.9Hz.Extraly, by coming this signal filtering the electric machine controller of analog input combine digital filter operations.
According to certain aspects of the invention, each pulley module 224 comprises and illuminates with one or more indicators of the such as blue, green of the various states of indication mechanism state and/or red LED etc. (such as, when pulley module is properly connected to driving box 223, green illuminates).Can from the battery of PC/104 through pogo pin interface for the power supply of LED and ground connection.1k Ω resistor can be used for making from the extremely suitable drive current of the voltage drop of battery.
According to certain aspects of the invention, Bowden cable 142 is via metallic sheave case 224 and driving box 223 frame ground of ground connection being used as Circuits System inside.Advantageously, the ground connection of Bowden cable prevents Bowden cable play the effect of similar antenna and prevent the force cell and other parts that electric noise are transferred to system.
According to certain aspects of the invention, actuating unit 200 uses the brushless electric machine 222 (it operated with the working cycle reduced) of 200W that pulley 225 and cable 142 are moved by auxiliary track.The torque of motor and rotary speed are converted to the power and the displacement (see Fig. 9) that are applied to ankle by cable by pulley 225.
The hard to bear restriction to such as motor power (being 100W in its soft machine armor under test) of the auxiliary energy provided by actuating unit, but be not functional restriction.In soft machine armor after tested, average power consumption is remained on into test selection 100W job requirement place or following while, the part that working cycle of motor 246 is the cycle provides the power up to about 200W, then in the remainder in cycle, is back to low power consumption (Figure 10).
According to certain aspects of the invention, the EC-4pole30 brushless electric machine 246 that MaxonMotors company produces can be used, because it has high power-weight ratio and the high efficiency motor of compact size.Other motor can be used according to the performance requirement of system.Although employ electric rotating machine in each embodiment superincumbent, but also can use other actuator, these actuators include but not limited to that electromechanical actuator (such as, motor and solenoid etc.), pneumatic actuator (such as, pneumatic cylinders and McKibben type actuator etc.) and hydraulic actuator (hydraulic cylinder etc.).In other side of the present invention, can use do not need reductor and because this reducing weight, reduce noise and improve the dissimilar motor of efficiency.
In addition, although above-mentioned example discloses the pulley system 224 that cable-actuated device 142 system comprises the motion controlling Bowden cable, advantageously, other actuator and/or flexible transmission part can use together with soft machine armor.For example, the actuator being connected to the length of cable between two points or rope that can shorten and there is sheath (Bowden cable) or not there is sheath (above-mentioned free cable) can be used.According to the availability of the environment of the motion that will assist, this type games, taboo and alternative drive arrangement, these actuators can be placed on outside the upper or body of the person Anywhere.Actuator can distally be placed (such as, in the knapsack that the shoulder by user is carried), the near-end of actuator dynamical transfer element (such as, cable) is connected to the correct position of soft machine armor system (footwear Connection Element 130) as above.Alternately, one or more actuator can be disposed between anchor point, Connection Element and/or node, or a part for length between the termination being arranged in cable.The example of the actuator of other type can include but not limited to one or more pneumatic or hydraulic linear actuator, pneumatic or the driving actuator of hydraulic rotary closure, ball or screw actuator, belt or cable and electroactive polymer etc.
According to other aspects of the invention, employ the actuator of the length reduced between end, and this actuator comprises one or more semi-passive actuator such as such as magnetic clutch or mechanical clutch etc.When needs give auxiliary (such as, when knee bend), some place shorter for the length between the point in gait engages by these actuators.When engage with the telescopic cable of length make it have the tension force of minimum level, clutch, by locked lengths under shorter state, makes when lower limb stretches naturally, and the stretching, extension due to soft machine armor and cable is produced power.This will be classified as semi passive system and expection is needed the energy level lower than active system.
According to other aspects of the invention, various mechanism can be used for adjusting the tension force in soft machine armor.In certain embodiments, the same mechanism of soft machine armor is driven also to can be used for adjusting the tension force in machine armor.In other embodiments, independent mechanism can be used for individually or the soft machine armor of tensioning together with actuator.Soft machine armor is shortened on one's own initiative by using the actuator of the length between two points on reduction armor.A mechanism that can realize this object is the motor pulling Bowden cable, and the sheath of Bowden cable is connected to a point on soft machine armor, and the center of Bowden cable is connected to the difference on armor.This can realize by using mechanical actuator, pneumatic actuator, hydraulic actuator or other actuator.
Certainly, as previously mentioned, by the relative position of Connection Element, anchor point and node is carried out physics adjustment (such as, by use bracelet and/or
adjust tape, it is also locked in appropriate location etc. by tensioning drawstring, wire rod or cable) manually adjust the tension force at one or more some place.As another example, wearer can be pulled through the ribbon tape of locking bracelet, and wherein, this locking strip fixes ribbon tape after being buckled in pulling force release.In another example, wearer can pull a ribbon (such as, Connection Element) and use
this ribbon is fixed to a part for armor.
Wearer also can pull or cable to be fastened the ratchet mechanism in position located (such as through the tension force being configured to set by tensioning, be arranged in the rotating ratchet mechanism such as manufactured by BoaTechnology company on belt 110) or the cable of lockable bobbin, wherein, ratchet mechanism or lockable bobbin.Ratchet mechanism or bobbin are connected to one end of Bowden cable (such as, the top place of ratchet mechanism is installed) at the hip of cable, the other end of Bowden cable is by using for providing releasable fastening mutual functional element (such as, pawl element and pawl member) be connected to two positions on soft machine armor, to reduce the distance between them.Wearer also maybe can be used screw mechanism to carry out tensioning soft machine armor (screw mechanism be at that time locked to final position) by the center hub that cable is wound around to advance ratchet mechanism by rotating.The mutual functional element (such as, making bar move away from the ratchet gear teeth) discharging ratchet mechanism by pushing button discharges tension force.Come manually rotating ratchet mechanism or bobbin by soft machine armor wearer, or come rotating ratchet mechanism or bobbin (to carry out tensioning or lax) by actuator (such as, gear motor).Even if soft machine armor is not driven as aid system, but soft machine armor still can be worn with the pattern of tensioning.In various structure, ratchet mechanism can be positioned near the waist of wearer or hip place (so that in walking or adjust while running), ankle, and other on the trunk that maybe may be positioned at wearer or around trunk is local.
According to some embodiments, the mechanism for the soft machine armor of tensioning can comprise screw element.In an aspect, carriage element is connected to the end of Bowden cable and the threaded portion be configured to by means of being wherein furnished with screw element moves up and down.Carriage element remains on the suitable position relative to cable rope jacket by supporting construction, and the top of screw rod is exposed to user to allow rotary screw.The rotation of screw rod makes the Bowden cable end of balladeur train and connection carry out rectilinear motion, thus increases or reduce the tension force in soft machine armor respectively.Be provided with locking member, to make setting, lax minimizing possibility occur.In an aspect, screw rod can rotate screw thread under the control of micro-machine or other actuator, in this case, will not need locking member.
As previously mentioned, selectively, when the user dressing soft machine armor moves, can according to procedure Selection ground initiatively tensioning (such as, cable shortens or extends) soft machine armor.Alternately, in other side, soft machine armor is by using one or more actuator by automatically tensioning and being maintained at one or more setting tension force (such as, the scope of fixed value, fixing value, scope, nominal meansigma methods and nominal peak etc. for the different value of different piece that moves or different values), set points of these setting tension force adjust by user.In this respect, system is configured to sense the tension force in soft machine armor, thus provides suitable input for the controller for controlling tension force.
When all these mechanisms, soft machine armor can be manufactured into by discharging these strainers being through with it wearer loosely, to be such as convenient to take off soft machine armor.Such tensioning (relaxing) device allows to keep the tension force of the first level and the tension force (it is higher or lower than the first tension force) of the second level between user's some point such as on soft machine armor.Advantageously, soft machine armor comprises multiple strainers that can side by side operate.
During gait cycle, motor 246 can at the range of operation of certain torque and speed, to realize cable 142 track expected.Due to higher electric efficiency occur in high speed and low torque under, so some embodiments of the present invention can select the combination comprising the motor with pulley and change speed gear box, this combination makes motor keep operation in the mode as much as possible close to maximal efficiency during gait cycle.
According to some embodiments, MaxonEC-4pole30 has the nominal continuous speed of 15900RPM.But for this embodiment, motor is subject to maximal rate (12000RPM) restriction of encoder.Substituting encoder (MR, type ML, 500CPT, 3 channels, line drive Maxon#225778) can be used in actuator system, and this will increase maximum motor speed.
According to some embodiments of the present invention, the better motor for this system has lower continuous speed for higher torque.Lower speed of operation can reduce the quantity in the necessary stage in change speed gear box and can cause higher aggregate efficiency.
According to some embodiments of the present invention, the fast rotational of motor is converted to prolongation and the shortening of the cable 142 driven by pulley 225 by pulley 225 and change speed gear box 248.Pulley 225 determines maximum cable travel for given load condition and maximum cable speed together with change speed gear box 248.By from the minimum cable travel required by the demand meeting biomechanics and machine armor rigidity and maximum cable speed inversely operation to determine pulley 225 diameter and gear reduction.Auxiliary total amount is driven by these two limit values and power budget.
According to some embodiments of the present invention, pulley 225 can be singly be wound around design, and in other embodiments, pulley can be wound around design more.When single winding design, the girth of pulley 225 can not be less than cable travel distance.According to some embodiments, cable travel is the biomechanics based on the soft structure of machine armor 100 and the walking of user.According to some embodiments, cable travel can comprise three length: cable pulls length, machine armor tensioning length and for preventing the margin of safety at the tactile end.According to some embodiments, cable travel has been endowed larger safe length due to the uncertainty of design parameter and user's transmutability.Altitude range is that the participant of 5'8 " to 6'5 " measures cable and pulls length and cable tensioning length from soft machine armor and actuator system before.The diameter of pulley of three length and calculating is found in table 1.
Table 1
According to some embodiments of the present invention, single use being wound around pulley result in the Useable angles of 340 ° (0.94 turns).The diameter of pulley of the about 70mm selected provides suitable length of warping winch.Usually, larger pulley and larger bending radius provide the cable stress of less wearing and tearing and reduction, and less pulley or axle can provide much higher gear ratio.
According to some embodiments of the present invention, change speed gear box 244 is selected as meeting the cable when auxiliary ankle and pulls and the maximal rate needed for deenergized period.As seen in fig. 11, the triangle operated in the active part in cycle can be regarded as the cable displacement of maximum aided case.Leading line be by centimetre in units of order motor position signal and below line be final motor position as measured by CME-2 electric machine controller software scope.Positive displacement corresponds to the retraction of cable and the acceleration that the delay between signal command and motor position comes from electric machine controller limits.
As seen in Table 2, it illustrates and calculate according to the gear reduction of at least some aspect of the present invention, can find, for given diameter of pulley (70mm) and maximum motor speed, can obtain maximum cable speed is 37cm/sec.Can obtain from this maximum cable speed, necessary gear reduction ratio is 107:1 and have selected the change speed gear box of the speed reducing ratio with 111:1.
Table 2
Expect that motor carries out operating and do not exceed the limit value of motor in the power pulling at a high speed period to apply, to keep the life-span of motor in its speed-torque curved line.
According to some embodiments of the present invention, use the Bowden cable being included in the inextensible cable of inextensible sheath internal translation.Power is passed to ankle (power via being passed to footwear Connection Element 130) from actuating unit 200 by Bowden cable 142.Bowden cable sheath 144 is connected to soft machine armor and actuating unit 200 and cable 142 is anchored to footwear Connection Element 130.Ribbon and or cable by selectively through soft machine armor fabric in guiding element extended.
According at least some embodiment of the present invention, the current system tension force in cable is input to control system, pre-tensioner for data record and the soft machine armor until then of being expert at.Gait control algorithm also be can be used for the sensing of the tension force in cable.The force cell 234 of pulley module 224 can be mounted to small-sized idle pulley, and this small-sized idle pulley makes when cable arrives pulley from casing outside the angle that cable deflection is little.Usually, the power needed for cable deflection is made to increase linearly along with the tension force in cable.
According to some embodiments of the present invention, B & LEngineering foot switch to be installed in the footwear of user and to provide and enables the user in one or more specific operation weight range carry out the range of sensitivity activated.When not being pressed, foot switch has the nominal resistance of hundreds of megohm, this generates effective closed circuit.Resistance drops to 14 Ω in heel contact (power of about 300 pounds) period, and this value is far below the pull-up resistor (the 1k Ω in parallel with 10k Ω) of 909 Ω PC/104 digital pin dragged down.To increase 1k Ω resistor with the mode of 10k Ω capacitor in parallel, trigger with the ON/OFF of (such as, when heel contact and when heel is lifted) during making transient motion and minimize.
As in the structure after tested of soft machine armor with configuring, employ the DiamondSystemsAuroraPC/104 computer 250 with 1.6GHz Intel Atom processor, this built-in computer has the MS-DOS of the real-time kernel of 4GBSSD hard disk.MS-DOS installs and can be configured to build xPC target (it can perform when starting) binary system.XPC intended application waits for the connection of from host, receives the program after the compiling of the MATLAB/Simulink in from host and performs this program.AuroraPC/104 can match with DiamondSystemsMM-32DX-ATI/O expansion board, can specify as 32 analog inputs inputed or outputed, 4 modulating output and 24 digital pin to provide.According to some embodiments of the present invention, the xPC objective cross of PC/104 provides disposal ability and the motility of effective dose.PC/104 has Floating-point Computation number of times per second and is 48.2 and RAM is the desktop computer CPU of 2GB, and control algolithm can be developed and do not worry speed or internal memory for the present invention.Small size and low-power consumption make PC/104 be suitable for using in portable system.According to some embodiments of the present invention, CopleyControlsAccelnetPanelACP electric machine controller is the high performance controller that can carry out speed controlling and position control.It has many instructions input (RS232 serial, CAN, PWM and analog voltage).CopleyControls software allows basic automatic tuning and the calculating of controller gain.
According to some embodiments of the present invention, FutekCSG110 is used as the universal amplifier of full-bridge deformeter.FutekCSG110 has DIP switch for setting excitation voltage and mV/V ranges of sensors and the rotational potentiometer for calibrating the zero point of DC voltage and span that export each specific force cell to.FutekCSG110 amplifier enables force cell be connected with PC/104.
According to some embodiments of the present invention, five batteries are used for system power supply for this reason.Four grignard ACE5000mAh14.8V4S1P40C lithium polymer batteries are used for for electric machine controller, motor and two pairs of driving box (each limbs driving box) power supplies.In order to provide the unidirectional current of 29.6V for electric machine controller, often pair of serial battery ground connects.5th battery is used to the grignard ACE4000mAh14.8V2S1P25C lithium polymer battery that the cooling fan in PC/104 computer, two Futek amplifiers, pulley module LED and each driving box is powered.PC/104 battery can with electric machine controller battery to and system in each parts share identical ground connection.According to the adnexa that the battery of embodiment more of the present invention can be system.These batteries can be accommodated in be had connection at least 2 and can carry in the housing of the terminal connector of the electric connector blade more than 200W electric power.These blades can be connected with the matching connector of electric machine casing inside, can connect to be formed for the power of feeding electric motors.The such as latch etc. that battery container and electric machine casing can have for rugged housing coordinates maintenance feature, to form the interchangeable system of release fast.
Lithium polymer battery is selected to be because they provide acceptable performance in this application.Lithium ion polymer chemical constitution provides energy storage the highest with weight ratio and has more robustness and safety than lithium ion.In other embodiments of the invention, soft machine armor can comprise energy harvesting elements (such as, from the sun, wind, natural body kinematics, body heat, vibration, with charging station inductive and wired Li battery recharger port etc.), be reduced to armor power supply station need integral battery door size.
According to some embodiments of the present invention, control program can comprise the process determining how mobile motor based on the input carrying out sensor.This control program can be performed operating in the coding on PC/104 embedded computer.According to some embodiments, control program can be written in Simulink module and MATLAB coding.The Simulink module simulating expansion board for MM-32DX-AT can process input and output (such as, I/O).Simulink module can be used for reading the value of all the sensors and another Simulink module can be used for positional value to be sent to electric machine controller.Extra Simulink module can be used for catching data and it being saved to the disk of PC/104 or it being sent to main frame to carry out preserving or debugging.By being embedded into MATLAB script in Simulink module to realize a large amount of process.This MATLAB script can use foot switch state, user interface button and current time to walk the motor position of calculation expectation.According to some embodiments of the present invention, Simulink module map can be run with the set time of 0.001 second (1 millisecond) step on PC/104.
According to some embodiments of the present invention, the motor 246 that can calculate every bar lower limb from trapezoidal track produced before runtime exports.This track has unit width and the variable peak height (such as, have the pulse of 4cm amplitude and have the pulse of 6cm amplitude) corresponding with the driving level expected.The rhythm of the gait of user can be calculated from the sequential between multiple heel contact.Particularly, during gait can being recorded for the step of predetermined quantity (such as, front 20 steps), and average.20 moved further meansigma methodss are enough for low pass filter.Can be used for during this average gait carrying out scalar to the trapezoidal track of the whole gait cycle through each bar lower limb.Every bar lower limb can be processed independently and the waveform of every bar lower limb can be calculated independently.In certain embodiments, two legs can be processed and identical calculating waveform can be used for every bar lower limb simultaneously.
When heel contact, control program can use look-up table to produce the motor pulling force of needs.The smooth track of the 0-40% of gait cycle (GC) is used as to postpone, when feet station on the ground and the hip of user is pivoted to above foot position time keep soft machine armor to relax.From 40% place, motor pulls cable and at 62.5%GC place, soft machine armor is tensioned to maximum horizontal when toe is liftoff.After maintenance a period of time, motor unclamps cable, falls be back to zero at 83%GC place, and resets to carry out the new cycle.
Track can be subject to the physical property restriction of motor 246, change speed gear box 244 and Bowden cable 142.The descending slope of track is subject to the maximum slew rate constraint of motor.In addition, the peak acceleration of motor can be restricted to 2500r/s by electric machine controller
2and the maximal rate of motor is restricted to 11500rpm, this makes the change of the wedge angle of trapezoidal track justify and make it slightly to dextroposition (~ 3%).Finally, can based on the position of ankle relative to the time chart (its heel first kiss the earth time start) produce this track.The foot switch that uses in this system needs very large pressure to trigger, therefore, until heel is on ground and the weight of user has started to be loaded on foot and just can sense heel contact.This occurs in the somewhere between the 2%-6% (most possible 2%-3%) in nominal gait cycle.
According to some embodiments of the present invention, user interface switch is arranged on the outside of driving box 223, hand-held remote control unit or via wireless device and arranges, to change the mode of control program work.When switch of walking departs from, control program can optionally continue to run, but after heel contact not output pulse signal.Each tension force trigger is that the motor position found from trapezoidal track adds or deducts skew.How long the size of this skew is pinned according to tension force trigger and is increased.
According to some embodiments of the present invention, the value of force transducer can be to be recorded and for the data of the size that adjusts trapezoidal track instead of the motor position for calculation expectation.According to some embodiments of the present invention, force transducer can be involved in the feedback loop with the motor position of the power track instead of expectation of following the tracks of the expectation in whole gait cycle.
According to certain aspects of the invention, straight line cable (directlinecable) can be used to replace Bowden cable.Straight line cable can comprise the free cable of the point from actuator to action.This will produce the power be located along the same line with cable between the two endpoints.According to other aspects of the invention, multiple spot funicular system is employed.Such as, multiple spot funicular system can comprise the free cable from actuator 120, and this free cable arrives far-end along path through angle change point and power and displacement passed through some or all that comprise in the described transition point of end along its length.The moment about each joint between the end of cable depends on their positions relative to the transition point of free cable.Different from Bowden cable (cable crested is until exit end), cable or ribbon can be configured to slide relative to transition point and wearer.Multiple spot cable and/or straight line cable can comprise with one or more in lower component: wire rod or silk rope, ribbon (such as, soft machine armoured material), flexible member (such as, rubber) or any other flexible force transmitting element.
According to some embodiments of the present invention, the force transducer based on fabric can be used for the linear displacement of the fabric ribbon between measurement two some A and B.The measurement of this linear displacement can be bonded to the performance of woven substrates (such as, elastic performance) power calculated together to measure.Can along the conllinear route survey power formed by A and B, and the end points place of this line met at fabric and other adapter terminates.Braiding ribbon provides the robust fabric usually made with the form of ribbon (such as, length, width and thickness) usually.Along fabric length linear apply power and can produce stretching (strain) in fabric.This stretches measured and is relatively consistent, makes the power being applied to fabric will cause specific strain measurement.By using this performance, the force transducer based on fabric can carry out computing power based on monitor strain (monitor strain such as, in about 0.05%-5% scope).According to some embodiments of the present invention, the force transducer based on fabric can be used for assist control one or more machine armor actuator.Measure to be used for detecting by control system with the power that actuator position is measured and power displacement curve combines and move and feedback is provided.It is the auxiliary tram (passing through stiffness measurement) determining armor element also.
According to some embodiments of the present invention, force transducer based on fabric can be used in being recorded in the power in any active stage in soft machine armor element, auxiliary development is carried out with the power in the specific region by measuring soft machine armor, to detect damage by measuring joint angles, and be used for detecting for control or for the joint angles of data analysis.
According to some embodiments of the present invention, sensor can be placed on each position on soft machine armor.In an aspect, at 2 places of the length along Connection Element (such as, woven fabric) or other element, the sensor based on surface is adhered to or is connected to this Connection Element or other element.In another aspect, full surface probe is adhered to or is connected to this Connection Element or other element by 2 places on the region of Connection Element (such as, woven fabric) or other element.In another aspect, formed in Connection Element or other elements or be woven with (for textile material) pocket, and in this pocket, placing sensor (needing to use the material property of this pocket when computing power).In other side, sensor can be directly configured in ribbon.In other side, be stratified material or synthetic material for carrying Connection Element or other element of one or more (any type) sensor element, and by sensor internal be arranged in stratiform or synthetic material each layer between.
According to some embodiments of the present invention, the sensor of measure linear displacement can be used in systems in which.Preferably, this sensor can measure the strain in the scope of the about 0.05%-5% of current ribbon.Traditional sensor with moderate strains scope generally includes the sensor of the range of strain with 0-10%.Other sensor comprises the super-elasticity sensor (such as, the liquid metal disclosed in WO2013/044226A2, is incorporated into the full content in WO2013/044226A2 herein by reference at this) with large range of strain.Alternately, traditional strain transducer with low strain dynamic scope is used by such as under type: make the region of connection strain transducer become stone, to reduce the strain of ribbon.
Such as, according to some embodiments of the present invention, as shown in Figure 15 A to 15B, can provide at hip joint place and drive with assisted movement (particularly, walk, run and jump).And, because hip joint is near trunk, so power directly can be passed to hip joint itself from trunk installing type actuator or shoulder installing type actuator.Such as by belt or knapsack (as shown in fig. 15b), actuator 200 can be attached to human body, and actuator and other appurtenances are (such as, power system etc.) can with belt or knapsack close, or be alternately distributed in rear side or front side, or front side and rear side are with distribution system quality.The applying of the power striding across hip is realized: the stretching element (such as, 800) using such as cable, ribbon part and silk ribbon etc. to be connected to actuator 200 in proximal end pulls the hip of far-end by such as under type.When this stretching element does not need sheath, frictional force is by high for efficiency that is very low and therefore system.Hip joint is easily to realize the wearing of soft machine armor near a benefit of trunk and takes off.In the knapsack that actuator is positioned at the top of the clothes of user or purse structure, and stretching element can to remain on health outside and be secured to thigh by using the support member that is also positioned at clothes outside, and thus provide and be easy to be connected to thigh and the short device of the profile removed from thigh.
Soft machine armor 100 according at least some aspect of the present invention comprises actuating unit, this actuating unit have from it extend and be connected to the ribbon of the certain length of hip, cuff, cable or other apply the device 800 (hereinafter referred to as " strap-like member ") of tension force.In operation, actuator 200 can retract strap-like member to produce the power that makes hip stretch and to extend strap-like member to make strap-like member lax.
When strap-like member retracted by actuator 200, due to the change of the angle of strap-like member, if hip generation flexing strap-like member will trend towards pushing buttocks region.For preventing constructing the discomfort caused thus, several solution is possible.Solution is shown in the left side as above in figure and center, strap-like member is in actuator end portion and offsets from health to a certain extent.This will increase the hip angle that can arrive before strap-like member pushing gluteus.Another selection arranges wide strap-like member (such as, 2 "), to make the minimum pressure on wearer.Also low-friction material can be worn on buttocks region, to reduce to rub and to increase the comfort level of the strap-like member against health movement.Also can use sheath in the large length of strap-like member, that is, can Bowden cable be used, to protect health from the impact of the motion of strap-like member.The alternative means reducing the pressure on health is the distal excursion at thigh connector place making strap-like member.This can be connected to the rigidity of thigh support part or semirigid component realizes by using, and described rigidity or semirigid component can extend back to be become " spur (spur) ", offsets from thigh to make strap-like member junction point.Such as, in an embodiment of hip connected system, by a fabric being fixed on around thigh at the use Velcro be positioned at above.Actuator can use 2, and " wide strap-like member connects so far thigh support part, and the top of this strap-like member upwards can be pulled.Thigh support part is limited to move up along the lower limb of user due to the conical shape of thigh.Same due to this conical shape, such shape cannot prevent thigh support part from moving down, and if so the tension force it upwards do not pulled on strap-like member, then it can have the trend sliding leg.By thigh support part being connected to other element of belt or upwards supporting thigh support part by other means.
In certain aspects, actuator 200 flexible drive element (such as, strap-like member, ribbon, cable and belt etc.) extend downwardly into user buttocks region on and directly or be indirectly connected to the flexible member (such as, thigh support part) engaging thigh.In an aspect, rigidity or semi-rigid spur shaped piece can be used for producing the skew from back of thighs.In one example, semi-rigid element is connected the rear portion place of thigh, and when power to be applied to the bottom of this semi-rigid element via strap-like member, this semi-rigid element is bent outwardly from thigh, thereby increases the skew (and moment) from thigh.This can contribute to forming the short armor of the profile leaned against when not in use on health, and produces larger moment arm when needing large power.At middle power place, moment arm can mediate.A lot of other elements structure respectively with not commensurability rigidity can be used in individual system, that comprise soft, flexible, rigidity with various layouts that are semirigid element.In order to the object regenerated, the element that spring and other flexible member are used as system also can be comprised.
According to one or more embodiment of the present invention, actuator 200 comprises and is suitable for engaging in response to the control signal from control system and is wound around the motor driving type drive pulley of described strap-like member.By using actuating device, drive motors is connected to drive pulley.This actuating device can comprise power is passed to the timing belt of drive pulley and timing gear or one group of gear from drive motors.In alternative embodiments, also can use driving shaft and one or more gear or timing pulley that drive motors is connected to drive pulley, thus assist to provide motion with the winding of predetermined speed and unwinding strap-like member.Actuator also can comprise idle pulley, and this idle pulley engages strap-like member and also measures the power be applied on idle pulley.Such as, the force signal provided can be transferred to actuator control by one or more deformeter, to control the driving of strap-like member.Also can arrange extra sensor move with detection and control the sensor of actuator on the hip of user or other joint, thus provide auxiliary.Such as, the flexing of hip can be the instruction that user starts movement.
According to some embodiments of the present invention, as mentioned above, can be one leg or two lower limbs and control system be set to control actuator and to receive the signal of sensor, with detect move and the power adjusting actuator to make they and coordinate movement.
In at least some of the present invention, soft machine armor 100 is configured to drive multiple joint.Such as, the pulley 224 driven by actuator 200 is configured to drive many group Bowden cable 142, so that auxiliary force is provided to different joints (such as respectively, ankle and hip), these joints are operatively associated to measure articular kinesiology with sensor 350 and this articular kinesiology are informed to control system.Exemplary sensor is disclosed in WO2013/044226A2, WO2012/103073A2, WO2012/050938A2 and US8316719B2 (full content of each one in them is incorporated into herein by reference).In addition, any aspect of the present invention is other active controlled material of accessible site also, and these materials are such as, but not limited to the material disclosed in WO2011/008934A2 or WO2013/033669A2 (full content of each one in them is incorporated into herein by reference).For example, according to the soft machine armor of any disclosed aspect can comprise such as be arranged in ankle, knee and hip any one or many persons place (namely, be connected to the both sides in each corresponding joint) superelastic strain sensor, to measure the human-body biological articulation on sagittal plane.The soft machine armor weight obtained is very light, and cost performance is high and be easy to dress and take off.
In at least some, elastic and inextensible fabric or material the combination that this soft machine armor applies power by the joint that can stride across in lower limb is formed.Power is produced by making cable or other stretching element (its first end be fixed above joint armor and the second end be fixed on below joint) shrink.As described herein, power is passed to each anchor point to transmit load by the inextensible parts of soft machine armor by the contraction of cable or other stretching element.Structure like this, soft machine armor can act on multiple joint simultaneously.Advantageously, soft machine armor comprises the sensing system being configured to the joint angles measuring one or more joint (desirably, three joints (hip, knee and ankle)).Should be understood that, although example is herein particularly for the momentum being applied to the lower limb of user between active stages such as such as walking or run, but the present invention also comprises the motion except walking or running and the limbs (such as, arm) except lower limb.In at least some embodiments, driving box and many pulleys provide auxiliary for arm motion, such as, by being configured to activate 1-N pulley (here, N is integer) single driver element to provide multi-joint driving force, this driver element comprises and being suitable for directly or (such as, by one or more gear) drives multiple pulley indirectly single input (such as, axle).For the joint that such as hip flexing and ankle flexing etc. operate in collaborative mode, two pulleys can be simultaneously movable.The activation to two or more pulley can have been carried out via the selector being fixedly connected with or can engaging one or more pulley between pulley simultaneously.
Figure 12 to 14 shows the various aspects of the control program that can perform according to the soft machine armor of at least some aspect of the present invention.This kind of control program is flexibly, and can be adapted to specific armor and application according to expectation.For example, the soft machine armor 100 of Figure 12 comprises multiple superelastic strain sensor (such as, as disclosed in WO2013/044226A2) for measuring armor rigidity and pressure.For example, this superelastic strain sensor can comprise stretchable silicone rubber (such as, EcoFlex0030, SmoothOn; PDMS, DowCorning) sheet, this silicone rubber plate is embedded with the conducting liquid microchannel of avirulent eutectic gallium-indium (eGaln), and wherein, the distortion of passage causes the change of the resistance corresponding with the change of length (itself and then can be associated with the rotation in joint).As shown in the figure, superelastic strain sensor is arranged to and strides across ankle, knee and hip, to measure the angle change in monitored joint.Such as, as shown in figure 12, in order to measure real-time armor distortion, superelastic strain transducer arrangements can be become parallel with the power path of movable armor.
Via human motion mode detection algorithm or look-up table, control system can make the motion (such as, only pay close attention to the absolute change of angle and pay close attention to the change about time, speed and/or acceleration etc. of angle) sensed in joint and the walking on such as horizontal surface, go up a slope walk, descending is walked, running on horizontal surface, go up a slope run, descending is run, go upstairs, go downstairs, squat, creep, jump, walk lamely and one that single limbs to land etc. in multiple scheduled event is associated.Based on this exercise data, control system can (1) store data on local physical storage media, (2) via airborne communication system, data wireless is transferred to another local device or remote-control device, (3) by wired connection (such as, communication cable) send data to another local device or remote-control device, real-time power assist control is provided, with the active state and the environment that make armor ideally adapt to wearer via the device of airborne communication system and/or (4) usage data.Such as, be positioned at based on comfort level (such as if soft machine armor measures joint deformity, user preference) and/or armor mechanical ability Consideration and on the threshold values defined, so control system can be configured to automatically reduce subsidiary level until these distortion are in the operating area of expectation again.In addition, soft machine armor can be used to combine with Wearable ectoskeleton initiatively.In this kind of embodiment, can wirelessly or by wired connection by data transfer extremely ectoskeletal controller, thus ectoskeleton be made to adapt to auxiliary level.In addition, soft super-elasticity sensor can be used for measuring the pressure relevant with any point at the interface between wearer and soft machine armor, and it can be used in the online adaptive of the subsidiary level considered based on comfort level.
If force transducer (such as, embedded sensor) is for measuring the tension force in cable, so soft machine armor can use extra control program.Soft machine armor produces tension force passively due to the biomechanics of walking.For given lower limb, according to how adjusting soft machine armor, this tension force starts at about 15%-35% place of gait cycle to produce, and raises when lower limb pushes off ground.This power raised can be used as the input of control system, which show about when and/or how (such as, force curve and power sequential etc.) driving the information of soft machine armor.
The control program carrying out information since then comprises and first armor is tensioned to following degree: during the walking of level ground, peak force is in a certain threshold values size (such as, F
peak).Once pre-tensioner armor in this way, then the power on cable is monitored and can be used for prediction user and be in the where (this is because the power on cable is predictably crossing with the threshold values at the identical point place at gait cycle) that maybe will be in gait cycle.About this, the curve chart of the corresponding armor power under the driver' s timing of the soft machine armor 100 during Figure 18 shows and describes gait cycle and following two situations: when armor is tensioned 800 and when armor is driven 810.Tensioning curve chart 800 means that armor has been set to certain length, and this length keeps fixing in whole gait cycle subsequently.Driving curve Figure 81 0 means that the tension force in armor is pulled at ankle place by armor and changes together with Bowden cable etc.In curve chart 800, the tension force in armor changes in whole gait cycle due to the different motion (as in Fig. 9 D) in joint.Show the relative timing of cable position and armor power for driving situation 810, Figure 19 and illustrate in greater detail the driver' s timing of soft machine armor and the curve chart of the corresponding armor power (curve chart 830) relevant to cable position (curve chart 820) that describe during gait cycle (percentage ratio as gait cycle).
In the curve chart of Figure 18,50N is crossed at 40% place of power in walking cycle of tensioning, and this is repeatably in a lot of step.This power produced before driving starts each cycle, and therefore, no matter cable is driven or do not driven, and all can obtain this information.Therefore, for the control system of Figure 18 measure drive in cable close to (or optionally equaling or exceeding) threshold values power F
threshthe example of power, control system can utilize this information of the position of wearer in gait cycle to take one or more action (such as, drive immediately or drive after a delay).Such as, controller is by during such as under type carrys out the gait of assessor: to focus on two continuous print steps or elapsed time between the moment that on several continuous print step, power crosses threshold values, then average.
In addition, from this information of labelling of crossing threshold values power size about threshold values cable power size and/or expression, controller also knows where people is in their gait at that time.Such as, controller can be set to the position control that 40% place in gait cycle starts on cable and pulls.In the case, no matter when controller detects that power crosses the threshold values corresponding to 40% in gait cycle, then controller can start drag immediately.Or, if assuming that the 43% place starting position of controller in gait cycle controls to pull, so controller can use gait cycle to calculate the delay between 43% in 40% in gait cycle and gait cycle, and once predictably starting drag after this computing relay.
In addition, in order to where evaluator is more accurately in their gait cycle, controller also can be monitored tension force in time and be observed several points that tension force crosses different power threshold values.Usually, the speed of travel according to people changes relative to the pattern of time by power.The slope of force-time curve also can be used for the speed of travel (or during gait) of assessor.Due to the function (tension force along with the speed of travel increase and reduce) that peak tensions is also the speed of travel of people, so this slope also will be used for predicting where people is in gait cycle.Generally, controller can be constructed to be estimated as follows: (the current % in gait, gait cycle)=f (cable power (t), cable power (t-l) ..., cable power (t-N)).
Here, f () is function and N is the quantity of the sample for following the tracks of cable power in time.According to the sampling rate of force transducer, N may diminish to 1 (using two samples to estimate slope) or arrives 100-1000 greatly.In order to estimate slope preferably, power should be checked for the period of about 5%-10% of gait cycle.In other words, if our gait cycle is 1 second, so in order to estimate slope, controller should use from current time backward 0.05 second or before current time the sample of 0.1 second.
In addition, replace utilizing position curve (% of gait) to pull (and release) cable (such as, Bowden cable 142) or many cables (such as, for the driving soft machine armor of multi-joint), also there is other and control to select.Motor can pull with some fixing speed until reach a certain peak force.Motor also can pull the power track making the power at ankle place follow certain regulation.Motor can also pull with some fixing speed until it detects that power declines due to the biomechanics of walking.Be similar to tension force in soft machine armor and the cable 15%-35% place how due to the biomechanics of walking in gait cycle to increase and soft machine armor change length, the about 60%-65% place of tension force in soft machine armor and cable also by the structure due to health in gait cycle reduces, and this makes soft machine armor relax.Particularly, even if cable be maintained at regular length or just by motor with appropriateness or slowly speed pull (and shortening length), the ankle lifted at about 60%-65% place of gait cycle and bending knee also make soft machine armor become lax.The reduction of this power caused due to biomechanics can be used as the trigger when cable should be released and again be released.At that time, cable should discharge with some fixing speed or follow certain power track and be back to nominal tension points.
Usually, the process of tensioning and release cable is completed by some combinations in following force track, location track, speed trajectory, these tracks or some other schemes.
As mentioned above, use Wearable strain transducer (such as, the superelastic strain sensor comprising liquid metal conductor and the conductive fiber etc. be integrally formed with nonconducting scalable fabric) or other type sensor (such as, inertia system and the angular velocity etc. measured from the multiple gyroscopes/accelerometer being connected to different body part) can be used for notifying when soft machine armor and/or auxiliary ectoskeletal control system perform everyday tasks or place task (such as, as shown in figure 13) to the real-time measurement that human biology joint angles carries out.Once for wearer or for the similar colony of wearer (such as, similar in structure) establish suitable baseline, the information provided by these strain transducers (or providing other sensor of position data or its derivatives) just can be used for such as walking, upstairs or downstairs, slope walks, squat, creep, stop and the human motion such as jump is classified.When in actual life application, (that is, leaving laboratory) dresses wearable ectoskeleton or auxiliary device to people, be very important to the real-time analysis of human motion.That carries out needed for these different motions is auxiliary completely different, and to walking effect well strategy perform the variations (slope walking) of same task user or perform not useful to user or even may destroy the motion of user when other moves.According at least some aspect of the present invention, be integrated into sensor in soft machine armor (such as, strain transducer, pressure transducer, gyrosensor and accelerometer etc.) for measuring one or more articulation or limb motion (such as, hip, the rotation of knee and/or ankle), or for allowing the measurement of one or more articulation or limb motion, and by this information with for the wearer of soft machine armor reference data (such as, wearer base-line data) or for have similar characteristics colony reference data (such as, look-up table and algorithm etc.) compare, to determine kinesiology and/or other characteristics of motion.Then, be used for affecting mobile system (such as by soft machine armor control system by the motion determined, for driving time and/or the size of single joint type, and for the driving time and/or size etc. of multiple joint type), or for communicating with Local or Remote external system (such as, the ectoskeleton of wearing) and/or affect Local or Remote external system.Therefore, the classification of the human motion of acquisition can be used for defining the state machine upgraded in real time, to inform what motion control system wearer is carrying out.
In addition, when the soft machine armor of many covers is deployed to multiple user (such as, one squad soldier) in time, exercise data from the soft machine armor of many covers is conveyed to one or more Local or Remote external system in real time, and these exercise datas generally analyzed (solely or with the position data of such as each wearer, other measurement data such as breathing and the rhythm of the heart combine), with the characteristic of the motion and this type games of determining group, infer with the reason of desired value generation deviation and start the action of correcting or access is considered to applicable other Local or Remote system responded to such kinetic characteristic.For example, if expect that a squad soldier walks along road, and the opposition side of the gps data of soldier display soldier forward road is moved, and so gps data oneself cannot show that soldier is hidden or only make vehicle pass through just in the trench.But, if by identical gps data and each soldier of display fast mobile and with supposing that information that is prostrate or half front lying position combines, this information being sent to tele-control system so in real time just automatically can send alarm that squad may exchange fire with the enemy and the data of neighbouring object of interest can be automatically sent to long-range or on-the-spot suitable policymaker.Therefore, soft machine armor sensing data not only can be used by soft machine armor control system, and can be used by outside (headquarter and) control system, it can be used as from individual channel (such as, a set of soft machine armor) or the control inputs data of multiple channel (such as, many cover soft machine armor).
According to the above-mentioned use of sensing data, this sensing data also can be used for providing such as gait phase, speed and size etc. about the information of the gait of user to soft machine armor control system.These parameters are adjusted in real time by enabling the force curve being passed to user biological joint by actuator 200 during walking, and which results in auxiliary efficiency and improve.For example, this use of sensing data can allow to remove other sensor that such as above-mentioned foot switch sensor is unnecessary.
Figure 14 shows the example that is suitable for changing based on the soft machine armor wearer motion detected the control structure of the exemplary improvement that soft machine armor is assisted.Auxiliary force needed for joint each when carrying out different motion is completely different, so control system should be formed between the different active stages be considered provide suitable auxiliary force to user.In fig. 14, human motion algorithm for pattern recognition output (such as, as illustrated in general manner about Figure 68 to 69 above) notice control system determines the reference locus power that will pass to user.When the walking in the landform such as tilted, to run etc. motion different time, the mankind have adapted to the bio-impedance of their limbs.If interior location control loop compensates dynamic and friction means, be so used as input (F
ref) power perform during location-based access control (admittancecontrol) just can be limited to driving by virtual impedance (inertia, damping and rigidity) (F that user feels
suit).Therefore, as shown in figure 14, the use of airborne soft machine armor sensor allows the motion of sensing to combine use with access control structure, movable together with user with the motion making soft machine armor be adapted to based on user, this provides more natural and efficient driving.Human motion pattern recognition also changes being used for changing initiatively ectoskeletal auxiliary force the virtual impedance passing to user.
Be back to soft machine armor 100, and to be back to for auxiliary hip during normal walking and the walking of upwards slope/descending stretches the system of foundation particularly (such as, soft machine armor see Figure 15 A to 15B), Figure 16 shows the hip joint torques during walking in a horizontal state, wherein, soft machine armor at gait cycle about 0% to about driving between 25%, gait cycle about 25% to about do not carry out between 75% driving and at gait cycle about 75% to about again driving between 100%.Positive torque corresponds to hip and stretches (curve to drive relevant part), and negative torque is corresponding to hip flexing (curve to do not drive relevant part).Two kinds of control programs contribute to providing so auxiliary, location-based control and Li Ji and access control.
For location-based control, during normal gait, hip extends in before heel contact occurs and starts.Location-based control program needs to include this class feature in consideration.In order to the information of the footfall frequency during obtaining about normal gait, foot switch is used to detect heel contact.The time of a step is measured by the time deducting previous heel contact from the time of nearest heel contact.Then, this information stored in a buffer, therefore, this buffer comprises footfall frequency.When averaging to the step data of preserving in a buffer or the data derived from these step data, by nearest heel contact event being added this special time is to predict next heel contact.In order to make positioner be adapted to friction speed, carrying out time-scaling to fixation locus, this means that the peak value of track can not change, the time that motor arrives this maximum then can change according to the footfall frequency measured.
Figure 17 shows the Extraction parts of the record data during smooth ground running of the curve depicting force curve, motor position and foot switch signal.As can be seen from curve 705, motor started to rotate before generation heel contact (as shown in curve 710).By the motor track that playback is scaled, as shown in curve 715, create corresponding power.It should be noted that this power is the hip moment of power in cable instead of reality.The major defect of this location-based control is that system needs at least to be applied to allow track to be played by tensioning slightly the power of expectation.Otherwise system is by the lax cable that mainly reels, and this causes low active force.
For Li Ji and access control, power base controls to be advantageously used in tracking hip motion.By making to have slight (<5N) tension force in cable always, controller can follow the tracks of hip motion, which eliminates the major defect of location-based controller.Because location-based control all shows good effect to the moment applied and assisted user, so select access control as the improvement controller of system.Motor remains position-based control, this results in Inner Control Loop shape.By developing efficient positioner, the physical system character the same with frictional force as inertia can be ignored.By increasing outside access control loop, system performance can correspondingly be simulated and is configured as physical system.Controller set point, expected value and error are all now the power under this particular case.
In order to follow the tracks of the correct torque curve (see Figure 16) that hip stretches, foot switch is first for isochronous controller.Identical principle is used for positioner.By using admission controller to follow the tracks of hip motion, system also can be worked when there is no foot switch.The time that foot switch can only provide heel contact to occur.The point of flexing is become to obtain similar information by reading motor encoder and labelling stretching, extension.By understanding this specified point, identical principle can be used for using foot switch.As mentioned above, motor encoder signal is used to estimate angle in the hips.Although do not need to know angle accurately, because make the controller information that only needs synchronous with gait be stretch the change between flexing.
In view of situation at least above, below with reference to Figure 20 A to 34B to for optimize carry out different movable time pass to the power in human-body biological joint various non-limiting control strategy discuss.
Tested by human object, inventor is to assisting the performance of strategy to assess about the difference being passed to the power of wearer by soft machine armor actuator.Traditionally, auxiliary strategy is predetermined, and as the function of gait percentage ratio, only needs to adapt to, so they are adjusted to specific gait speed and the rhythm.Although which ensure that adaptability to a certain degree, it does not guarantee the optimum transfer of positive from device to wearer.
In fact, these class methods do not consider the transmutability between physiological step and step, and less positive may be caused to be passed to wearer due to coarse sequential and cause the negative power absorbed by biological structure to reduce.
In at least some of soft machine armor control system according to the present invention, measure joint angle speed and acceleration by one or more sensor.Soft machine armor control system estimates when the positive in the biological joint caused wearer will increase by active force in real time, and uses this information to trigger the applying of necessary power and revise the force curve of order as required.Should ensure that the correct moment during gait cycle only transmitted positive in line computation.It also ensures that the transmutability fully considered between step and step.
Figure 20 A shows the example utilizing and be connected to the gyrostatic control system of the footwear (such as, as shown in the figure, being connected to boots) of user.Figure 20 B shows the curve chart of the gyroscope speed (V) as the function of gait (%).From gyrostatic output signal by control system be used for estimate limbs angular velocity and be used for determining when joint velocity is positive.Be confirmed as positive when joint velocity or be in control system prediction joint velocity by during for positive time point place, control system order soft machine armor actuator 200 starts positive force to be passed to joint (this will cause being passed to power increase in joint).
Due to ought under different loads (such as, as shown in Figure 2 B, in knapsack, carry different weight) transmit drive time human body walking kinesiology and kinetics slightly change because of the difference of user, so inventor is intended to determine best supplementary route based on real-time power budget, be more suitable for various different object, the final system of activity and operating condition and method to provide.
Figure 21 A to 21B shows the power calculation for the gyro data represented general in the gyroscope embodiment shown in Figure 20 A and Figure 20 B.Empty black line 900 represent when soft machine armor 100 wearer when not from when walking when soft machine armor auxiliary by the power of biological joint absorption/generation.Line 910 represents the power when the wearer of soft machine armor is in the walk with assistance from soft machine armor by biological joint and the initiatively combination absorption/generation of soft machine armor.Line 920 represents the power being absorbed by biological joint/produced under assisting, and line 930 represents the power being passed to joint by the soft machine armor of active.
As illustrated in fig. 21, drive track to cause the negative power (initiatively ankle power) absorbed by biological joint compared with normally walk (lax early stage) to decline, thus reduce the efficiency of biological structure.As illustrated in fig. 21b, when the driving track more optimized causes that negative energy part (initiatively ankle power) is preserved and walks compared with normally walk (lax early stage), required positive reduces.Generally speaking, because the second driving track described in Figure 21 B reduces the total power consumption for a gait cycle, so second drives track more excellent.
Different from the rigid exo bone of routine, soft machine armor is pliable and tough and likely deforms in time when wearer carries out one or more activity (such as, walking) or move.Because the back-up curve deriving from positioner will in time and be adapted accordingly for different motion, so there will be problem when controlling soft machine armor by use location control program.By the key feature (it power comprising peak force and produced passively before driving) of monitoring force curve, automatically can adjust with retentivity in time with all consistent for different motion aided location curve.Figure 22 A shows the example of the target pretension expecting 30N, and wherein the peak value cable power of 200N will be applied to heel.Line 940 represents that soft machine armor is relative to the initial position of wearer and line 960 represents the starting force of the initial position for soft machine armor.Just gait cycle about started before 40% apply starting force.By from the feedback continued to monitor to human body-armor interaction force (Figure 22 B), revise track by increasing baseline position with its peak value (line 950).Line 970 represent soft machine armor relative to wearer amendment or the final power of the position for soft machine armor on final position.From starting force (line 960) upward to the arrow of final power (line 970) represent according to control program represented Figure 22 B in order to take into account soft machine armor differential movement and from starting force to the amendment of the active force of final power.Just gait cycle about start after 20% apply final power.Advantageously, also back-up curve can be revised based on the detection of the different motion of the wearer to soft machine armor (walking and jump etc.).
Figure 23 A to 23B shows and controls relevant curve with the soft machine armor power base location of the information utilized from the integrated gyroscope of soft machine armor (such as, as shown in FIG. 20 A).By using gyroscope survey joint angle speed, control system can estimate that when active force (such as in real time, as shown in Figure 2 A, be applied to the active force of footwear Connection Element 130) positive causing being passed to the biological joint of wearer is increased, and use this information to carry out the shape of the force curve triggering and revise order.As shown in Figure 21 A to 21B, if earlier apply track, so this will mean that the negative power absorbed by biological structure reduces.
In order to auxiliary ankle, the power base location can implementing to be triggered by gyroscope signal controls.Pre-tensioning is applied to soft machine armor 100 by control system, to utilize the passive performance of armor.Figure 23 A shows the average ankle driving curve in a standard deviation during the human object test experiments with 150N expectation peak force.In shown control system, control system is configured to reach 25N pretension at 36% place of gait cycle, and armor tension force increases before being suitable for the ankle auxiliary force started at 47% place of gait cycle lentamente, to promote armor structure and walking movement.At 47% place of gait cycle, actuator 200 exports the power track needed for expectation peak force (in this example) reaching 150N at about 56% place of gait cycle, in order to avoid hindering the motion of limbs during recovery phase, power track is back to pretension position at 65% place of gait cycle relatively rapidly.
In the control system of Figure 23 A to 23B, gyroscope (such as, via Bowden cable 142) controls actuator to as the limbs of target and the sequential pulled of joint (such as, ankle moments).Ankle drive example in, for realizing pure positive, according to algorithm pull should along with can be connected to soft machine armor wearer heel on gyroscope detect ankle plantar flexion motion and start.The advantage of this algorithm is found in the power ratio curve chart of Figure 23 B, and wherein, drive strategy about this, the power (watt) be passed of ankle joint (curve 1000) is almost pure positive.Figure 23 B shows the power (" general power ") produced by machine armor on cable.A part for this power is passed to joint (" power be passed ") and a part is gone to or from armor (" armor power ").Can find out, the power (" power be passed ") being passed to ankle is almost always positive in whole gait cycle, can't affect gait negatively by absorbing negative power.
Figure 24 A to 24B to show synchronous auxiliary transmission when not having step to postpone to the control method (zero step Time delay control) of gait.Usual auxiliomotor wearable system measures the time of their control algolithm by measuring heel contact.Therefore, in order to calculate the gait % during walking in current step, they need the average step of a nearest 3-5 step.When changing speed and/or gait and/or activity (such as needs user, slope walking, jump and squat) coarse or uneven landform in when walking, this fact makes the conversion between different motion become difficulty (that is, unsmooth).
By utilizing the presently disclosed special performance can assisting the soft machine armor of walking passively, control system can when not having step to postpone by synchronous auxiliary transmission to gait (zero step Time delay control).In other words, this zero step Time delay control does not need the information about step before and can produce back-up curve.In order to ensure level and smooth conversion, except heel contact, the human computer interaction's power produced passively also monitored by controller, to obtain multiple data point and use the pretension of aspiration level (generally from 20N to 50N) to trigger auxiliary active curve in single gait cycle.
Extend to about between 30%-60% of the gait cycle of another heel contact at a heel contact from given lower limb, Calf muscle and tendon upwards with driven forward health, and muscle of hip and ligament make lower limb forward rocking motion.At first, when the barycenter of health downwards and when dropping on feet forward shank and hip by stretching absorbed power.After about 50% of gait cycle, when tendon and ligament generation elastic recoil, this absorbed power is returned to health.Muscle in shank and hip shrink on one's own initiative, think that this is by the energy outside the power supplementary quota that returns.Soft machine armor 100 also absorbs and through-put power in this way: originally actuator drive components is maintained at regular length, when forward lean, and soft machine armoured material stretching, extension itself and tissue compression under armor.This causes tension force and from body absorption power in armor.Therefore, the special performance of multi-joint soft machine armor is that soft machine armor is only at health and just becomes tensioning for by during the correct status of the power be applied in.What the Information Availability from the human body-armor interaction force of passive generation was expected in transmission assists.
Figure 24 B shows the foot switch (applying human body-armor power at 36% place of gait cycle) activated at 0% place of gait cycle.As shown in fig. 24 a, auxiliary activation occurs in 36% place of gait cycle, and before this, armor increases passively (from about 20% of gait cycle) tension force is until the threshold values of about 25N.Back-up curve starts after being shown in 36% of gait cycle to increase, and power news increase fastly, at the peak value that the about 54-55% place of gait cycle reaches 200N, promptly decline thereafter.
The formula calculating the gait % providing auxiliary is as follows:
As initially considering condition, the motion such as such as jump, squat or creep does not produce identical by power, and does not therefore trigger back-up curve, and system is remained in complete transparent mode by this, and therefore can not hinder wearer.
Control algolithm work is as follows:
The first, control system is via heel contact sensor or provide other sensor about the information of heel contact to detect heel contact, and waits for that the power of passive generation reaches prescribed threshold (such as, 25N).The second, the gait (%) in step is calculated by use formula (1).3rd, control system carrys out trigger position back-up curve based on gait (%).4th, control system monitoring Gait
avthe value of the pretension at=36% place and the peak force of this step.5th, control system is corrected aided location curve initial and peak swing, to guarantee the power (location-based force control method) realizing expecting.Therefore, this control method can by only detecting heel contact and being transmitted timely and synchronous back-up curve by power threshold event.
During multiple step, upgrade the sequential of auxiliary amount, pretension and pretension event by such as under type: use and upgrade average gait % (Gait for the heel contact of nearest N number of step and average step time
av).
Therefore, provide the power base location with the estimation of gait percentage ratio and auxiliary triggering from two sensors (such as, foot switch) to control.Control that rectification is carried out to passive pretension level and peak force by making firmly base location and change controlled position curve.Average gait % (Gait is calculated by using heel contact
av).Maximum position curve self adaptation often walks 1mm, and only just can be activated when user has the correct signal sequence from two foot switchs, and therefore, when carrying out changing or take random paces between moving, this does not produce large impact to the power obtained.Result shows, and this controls for such as keeping away barrier, jump and urgency the different event such as to be stopped and had robustness.
As long as after a sensor reading occurs in 0% of gait cycle and before 36% of gait cycle, other sensor combinations just can be used in zero step Time delay control, and armor tension force can be used as the second sensor.
According to other aspects of the invention, control system is configured to the automatic adjustment providing force curve based on armor pressure monitoring.For example, sensor can be integrated in soft machine armor 100, to measure the stress level being positioned at the physical interface place between user and human body in some key areas supported power of health.The controller of soft machine armor 100 (such as, processor 250) monitor pressure in one or more zones of different (it includes but not limited to the bone regions such as such as crista iliaca) in real time, and peak force and/or position curve are adjusted remain in prescribed limits (it is comfort level for user and is selectively set by user) with the pressure that user is felt.Therefore, the real-time pressure in one or more key areas at human body-soft machine armor interface is measured and can be used to guarantee comfort level.
Figure 25 shows the control system according to the difference activity being suitable for wearer of at least some aspect of the present invention and the soft machine armor 100 of physiological status.In one embodiment, the control system of Figure 25 uses the multilayer control structure comprising low-level gait assist control (it is represented by low-level gait auxiliary 1050 and low-level machine armor controller 1040) and high-level human perception engine (it generates 1034 representatives by high-level moving/perception engine 1055, physiology and kinesiology signal processing 1032 and auxiliary force curve).Low-level machine armor controller 1040 is notified of following two crucial measurements: armor tension state (it is provided by (3) " the armor tension pick-up network " in Figure 25) and gait kinematics (it is provided by (2) " the embedded soft kinematic sensors network " in Figure 25).Armor tension pick-up network provides passive based on kinematic tension information, and the tension mode that this tension information and ankle and hip place are measured is combined the detection can carrying out gait sub stage.This can such as be realized by the pattern recognition and machine learning method of attempting to find out the sequential of association between these multiple tension signals multiple and gait phase.Advantageously but not necessarily, information from the sensor (1) to (3) of Figure 25 processes together with the data from other redundant sensors such as such as Inertial Measurement Units (IMU) or interior bottom pressure, to guarantee robust control (such as, for the robustness of disturbance and velocity variations).
Multi-joint low-level control strategy will provide the parameter setting of reduction, and it can be controlled but not be used in each joint accurately to control partly, but will stride across the optimal control together of all joints.This will guarantee to have to the subsidiary level of each muscle group the robustness gait rhythm, step-length, joint angles being offset to (causing due to slope walking) and other articulation level variable.Auxiliary (such as, during walking in a horizontal state for the driven forward of ankle joint and the early stage support of stretching for hip during walking of going up a slope) that it will guarantee only to transmit in time during the stage relevant to energy of gait for each muscle group.
High level perception engine 1055 is by coming biomechanics and the health stress state of monitor user ' to the data analysis from whole body sensor network.By analytic signal pattern, intelligency activity adaptive algorithm by make by low-level controller produce auxiliary dynamically adapt to different gaits and movable (such as, soldier by the different gait of experience and activity, such as, but not limited to walking in a horizontal state, walking of going up a slope, descending walking, creeps and runs during typical mission).Whether the wearer that activity engine can also detect soft machine armor 100 is in transition stage or is carrying out non-gait motion (creep and squat) (this makes soft machine armor control to be in " high alert " pattern, starts as soon as possible to assist when being ready to need).Therefore, soft machine armor control system is monitored or constantly with the state of the motion of high frequency monitoring wearer (or corresponding without motion), to make the amount of assisting adapt based on the needs of user and to adjust auxiliary amount for the activity that wearer is just carrying out.As in the high-level moving/perception engine 1055 of Figure 25 describe, depict the soldier of the state of being on high alert (left side), walking (centre) and descending (the right).
In addition, the soft sensor that such as above-mentioned super-elasticity sensor is used for kinesiology and pressure-sensing can be integrated in soft machine armoured material (such as, fabric), to carry out upper limb and/or lower limb measurement.Alternately, independent other clothing (its) dressed by the user of soft machine armor be separated with soft machine armor can comprise the sensor of such as above-mentioned super-elasticity sensor for kinesiology and pressure-sensing, and these sensors are connected wirelessly to soft machine armor controller by suitable communication protocol (such as, bluetooth etc.).
In other side of the present invention, signal processing method and algorithm are for the motion intention that detects in soft machine armor and make the auxiliary condition being adapted to wearer based on the motion intention detected.In in this kind of, by the input of real-time biomechanics, Physical interaction and physiological data (such as, from one or more sensor or one or more sensing system to the hardwire of central controller and/or wireless output) to the controller of one or more intention for determining wearer, action and health, to guarantee that soft machine armor is applying correct assisting always.
The example of biomechanical data include but not limited to the linear acceleration (being measured by accelerometer) of the angular velocity (being measured by gyroscope) of body part, body part, body part Angle Position (being measured by Inertial Measurement Unit), foot contacts to earth and other gait event (being measured by foot switch).The example that Physical interaction is measured includes but not limited to the interaction force (using force cell to measure) on cable, the pressure (using distributed pressure sensor to measure) on skin and shearing force.Physiological data example comprises heart rate, skin conductance, EEG signal and surface electromyogram signal.
With depend on compared with single-sensor type, by integrating various sensing data, the accurate estimation having more robustness can be obtained.If necessary, can by the information from these sensors and the Data Integration from other redundant sensors such as such as Inertial Measurement Units to together with.This information can by mutual to controller, to guarantee having robustness to the auxiliary type of each muscle group and level for the gait rhythm, step-length, level and slope walking, load-bearing and other articulation level variable.
Showing, different human body activity and motion can be detected by using machine learning algorithm and preconditioning technique.Advantageously, to such as walking, running, squat or the real-time detection of the human motion such as up/down stair can be used to notify suitable auxiliary with under the condition being provided in these different conditions and/or change of the controller of Wearable soft machine armor.Although the major part work in ectoskeleton design is before all (thus user be restricted to and walk on a treadmill) of carrying out in laboratory environments, the present invention directly can be applied to the mankind's activity in real open scene.Information from the sensor of soft machine armor is imported into and is suitable for detecting and responds in the control system of human motion pattern and to be understood by it.
High level perception engine 1055 can also by carrying out to the data (such as, body temperature, perspiration and heart rate etc.) from whole body sensor network biomechanics and the health stress state of analyzing monitor user '.By analytic signal pattern, intelligency activity adaptive algorithm can notify that low-level controller is with the different gait making the auxiliary user of being adapted to of generation and may will carry out and activity.Such as, the quick increase of heart rate may imply that the threat perceived for soldier, in response to this, (such as, advances requiring that soldier is run towards threat, to go to after blindage).In this way, soft machine armor 100 can be monitored (such as, soldier) state constantly and the amount of assisting can be adapted based on the needs of wearer and adjust auxiliary amount in response to this needs.
In addition; soft machine armor sensor (such as; the integrated sensor networks such as the kinematic sensors in such as Figure 25 and/or armor tension pick-up) can monitoring bio mechanical information provide it to user and think that user provides vision and/or auditory feedback in real time; with for abnormal or emergency (such as; collapse in their gait, extreme physical stress or hardware fault are (such as; electricity is not enough)) alarm is carried out to user, make user can take suitable remedial action as required.The method produces Two-way interaction stream between soft machine armor and user, which improves the higher perception level causing more polyparagenetic interaction.
Following Figure 26 A to 26B relates to the control method calculating soft machine armor 100, realtime power stream between soft machine armor drive system and wearer calculates.Power and the speed of the power that provided by the driving cable of soft machine armor (such as, cable 142) and the cable at the junction point place (footwear adapter 130 place) of soft machine armor can be provided.Then, by pulling ankle cable and recording the power of multiple compression and decompression cycle period and displacement to determining armor rigidity.In real time, by using the speed of cable and end power (it uses force cell to measure) to carry out rated output stream.
The power being absorbed by soft machine armor and return is calculated by using the power in armor and armor-people's series rigidity model.Consider the power at ankle place, the reverse of rigidity model is for calculating the difference in length that must be adapted to by the stretching of the compression of health and armor.Time differentiate is carried out to this variable, and is multiplied by the power in armor, to calculate armor power.The power that armor power (it is just) absorbs from wearer and motor 246 corresponding to it.Then, must enter in armor due to the power inputing to armor or to enter in wearer and hysteresis loss has been included in armor power, so can calculate by carrying out the difference inputed between the power of armor and the armor power of calculating the power being passed to human body.Be passed to human body or be the summation of the power being passed to ankle, hip and knee from this power of human body transmission.By driving armor when wearer keeps static and measuring the power that obtains and motor position develops armor rigidity model needed for the method.As described below, and as shown in Figure 26 A to 26B, this method estimated the power being provided to wearer is quite accurate.
Figure 26 A shows " the ankle armor " of soft machine armor 100, and version (such as, see Fig. 2 A) force-displacement relationship, and Figure 26 B shows the force-displacement relationship of " hip armor " version (such as, see Figure 15 A and 15B) of soft machine armor 100.Power calculation considers the hysteresis in armor.Figure 26 B show the power being passed to wearer by using Vicon motion capture system to measure with by using the power in armor to measure and comparing between the power that the rigidity model of soft machine armor is estimated.
By using the rigidity model of armor, can rated output in real time at the scene.Figure 27 A to 27B shows the curve chart of the power (watt) of the function as gait percentage ratio.Figure 27 A shows the general power 1100 at ankle place, armor power 1110 and is passed to the curve chart of power 1120 of wearer.Figure 27 B shows the curve of the rigidity 1130 of calculating, and curve 1140 then shows measurement power.Therefore, high-level controller can be configured to observe poower flow in real time and make one or more characteristics of soft machine armor and/or actuator output adapt to optimize the power being passed to wearer when carrying out different activity.
Shape and the sequential of the false impulse provided by soft machine armor 100 can be provided based on the power (it estimates from armor rigidity model) being passed to wearer.Such as, the power that false impulse can change to make to be passed is strictly just or with the curve expected matching.False impulse is adjusted: start using the expectation power curve that will be passed to wearer and use algorithm to generate the desired locations of the actuator of the function as the time inversely by such as under type.
When by estimating in conjunction with the joint angles of the power in displacement motor and armor to (from other sensor or the model that uses the wearer based on the height of wearer, weight and consequent limbs length how to walk) user, when wearer is in static, the serial rigidity model of soft machine armor wearer can also be estimated in real time when measurement before not carrying out.
In other side of the present invention, soft machine armor 100 can provide the out-of-alignment automatic detection of armor and notice.Soft machine armor 100 is monitored the interaction force produced passively.Preferably, only by a few step of normally being walked by wearer to produce the baseline of the interaction force of passive generation, system is made can to monitor the dynamic shape of the power of this passive generation.If this power is correct, then system can notify that custom system is correctly positioned.If exist extra by power or the shape of tension force that produces passively incorrect, then system suitably will notify that user's armor is not properly aligned, and make him or she can readjust the position of one or more parts of wearable system.Based on the power detected, soft machine armor 100 optionally can notify that wearer is used for the most probable candidate adjusted further.
In other side of the present invention, such as, as shown in FIG. 20 A, soft machine armor 100 controller by using (such as, be arranged on heel, be arranged on foot and to be arranged on arm first-class) one or more gyroscope to detect gait event.The gyro sensor on one or more positions of being positioned on one or more limbs can be used to replace foot switch to detect gait event and to reduce the redundancy of system.As depicted in fig. 28 a, one group of gyro data with the different speed of travel (0.67m/s, 1.25m/s and 1.78m/s) is collected as curve 1200,1210 and 1220 respectively.Although the speed of travel is different, 4th% gait event and ankle positive event detection keep identical.Therefore, four status state machine with time-series rules can be designed to detect gait event and the time measuring back-up curve.
Shown in Figure 28 A to 28B four state is (1) resting state (IS), non-walking states, (2) swing early stage-interim status (IMSS), (3) swing latter stage-initial stage contact condition (TSICS) and (4) standing state (SS).For a gait cycle, because voltage drop is to 0V, so it is unique for swinging early stage-interim status.This is used as the entrance from resting state to walking states of state machine.Then, after the period of saturation, by detect heel, it enter swing latter stage-initial stage contact condition.In standing state, once 1.7V (it corresponds to the angular velocity of the 7.5 °/s relative to ground framework of foot) crossed by gyroscope, system just starts to assist.And measure the time of each state, once each state elapsed time exceedes normal time, state machine is just set to be back to resting state.The adaptation of this algorithm robustness when changing the speed of travel.
According to the present invention, control strategy also can be suitable for auxiliary impaired gait, wherein, different from example before, control strategy cannot rely on the strong regularity of non-impaired wearer typical physiology gait, and this is that than physiology gait, poorer and each patient has different gait pattern according to the type of disease damage, the progress of rehabilitation and the type of compensating motion of being carried out by patient due to the regularity of impaired gait.
The following detailed description of control strategy can combine with any gait pattern and use.
In the use together with any gait pattern first exemplary control strategy, for impaired gait provides the manual adjustment of mixture control and automatization's event detection and Physical Therapist.The universal architecture of the controller of wearable machine armor comprises two parts: (1) makes the individual manual interfaces can determining auxiliary sequential, type and the amount be passed such as such as Physical Therapist for the automation algorithm and (2) detecting gait event.For Part I, automation algorithm allows to measure multiple signal, and these signals are such as, but not limited to angular velocity (gyroscope), acceleration (accelerometer), magnetic field (magnetometer), touch switch and strain transducer.This algorithm can utilize the regularity in the signal mode relevant to gait event and measure to these sequential processing to be extracted in the some events that gait (such as, but not limited to heel contact, toe is liftoff and/or midstance) period occurs.In an aspect, one group of logic rule is used for measuring these of gait event sequential and they being combined by the detection of this gait event, and uses the specialist system (such as being realized by machine learning algorithm) being used for detecting particular event by training in another aspect.
For Part II, provide manual interface, auxiliary sequential, type and the amount that are passed to make the individuals such as such as Physical Therapist's (or wearer) determine.This interface can comprise the graphic user interface (GUI) and/or the manually interface such as the handheld apparatus such as with button, knob and/or switch etc. or wearable TIP such as above implemented at computer or portable electric device (such as, smart mobile phone).No matter construct in which way, this interface allows to adjust the auxiliary sequential transmitted from each motor relative to the event automatically detected.This interface also allows the conversion (such as, switching rate, gradually conversion and more unexpected conversion etc.) between the auxiliary amount transmitted each actuator and different subsidiary level to adjust.
For above-mentioned situation, it is that gait for (such as, being caused by non-stroke event, neuromuscular disease, other situation any or age) handicapped people is restored and gait training that of this mixture control scheme may apply.Impaired gait lacks the regularity of healthy gait, so cannot make hypothesis to the time delay between different gait event.Such as, although heel contact and ankle push off between delay in healthy gait be rule with predictable, be then uncertain and extremely variable in impaired gait.The disappearance of this regularity and predictability is compensated by this mixed structure.The automatic part of algorithm can detect the one or more events occurred during gait.Manual interface allows Physical Therapist or individual oneself based on their observation or feels to adjust auxiliary relative timing.
In the use together with any gait pattern second exemplary control strategy, the mixture control for impaired gait utilizes gyroscope to detect heel contact and manually adjusts for plantar flexion and/or the auxiliary of dorsiflex.In an embodiment of this control program, automatization's event detection can detect heel contact (such as, by using from accelerometer, gyroscope, touch switch and/or the measured value stretching sensor), and manual interface energy is enough in the delay adjusting and assist plantar flexion (ankle pushes off the stage) and/or dorsiflex (recovery phase).In another embodiment of this control program, any event before automatization's event detection can detect and occur in the stage of pushing off, and manual interface energy is enough in the time measuring the delay driving plantar flexion.In another embodiment of this control program, automatization's event detection can detect occur in toe liftoff before any event, and manual interface energy is enough in the time of delay measuring and drive dorsiflex.Because every thing feelings occur in same step, so these any times before driving embodiment of detecting event can realize the adaptability of very high level.
In the 3rd exemplary control strategy used together with any gait pattern, be suitable for detecting any amount of gait event on lower limb and based on these event qualification tracks for the mixture control of impaired gait.In this embodiment, N number of sensor is placed on health.Reading from this N number of sensor is used to detect M event during gait.In one embodiment, such as GUI etc. manually allow to determine when relatively with these events to produce to assist in interface.Each one in M event can be used as starting, revising or stop auxiliary time reference.In another embodiment, such as GUI etc. manually allow the auxiliary amount determining to produce between every a pair continuous events and type in interface.In another embodiment, manual interface little by little learnt and replace from the manual input of Physical Therapist specialist system (automation algorithm) replace.
In the 4th exemplary control strategy used together with any gait pattern, the mixture control for impaired gait is suitable for detecting the gait event on normal lower limb, to drive assisting impaired lower limb.Illustrate in Figure 29 A to 29B based on the gait event detected on normal lower limb with the example of this control algolithm of auxiliary impaired lower limb.Figure 29 A to 29B shows the gyrostatic possible signal mode be arranged on two heels of the patient with impaired gait.In the possible embodiment of this algorithm, clearly three peak-mode of normal lower limb (Figure 29 B) can be used as the time reference of auxiliary impaired lower limb (shown in Figure 29 A).In this example, the stance in Figure 29 A to 29B indicates by shadow region.By the peak value during recovery phase of detecting normal lower limb (Figure 29 B), user can extract the reference of the event before the recovery phase for always occurring in impaired lower limb.This is with reference to can be used for driving the dorsiflex during occurring in recovery phase.
Equally, in other embodiments, dissimilar sensor can be placed on normal lower limb, to detect the gait event that can be used to the time measuring the impaired lower limb of offside.
This structure also enables controller be configured to be observed by one or more sensor the motor pattern of healthy leg, and impaired limb can be driven little by little to tend to similar gait pattern to enable it.
Figure 30 shows the software interface for medical management, and particularly illustrates for showing by the real-time gait parameter of the sensor measurement on armor and the graphic user interface 1300 of input equipment (data entry field) controlling auxiliary curve and the sequential transmitted by armor in real time.
In in various, graphic user interface 1300 shows the real-time gait data calculated from armor sensor, to provide the quantitative information of the gait about patient.These real-time gait data such as can include but not limited to stand in symmetry (time quantum of standing with one foot to the knee of every bar lower limb), step-length, speed/rhythm, knee extension, plantar flexion power, dorsiflex degree and ground clearance any one or multiple.This output can show with quantification or illustrated mode, and clinician can select them to wish the parameter seen.Graphic user interface 1300 can also show the gait of preservation and usage data to illustrate long-term trend, and this will contribute to the data of accumulating between clinician or patient view's outpatient clinic.This kind of data can comprise the long-term trend about the distance of the speed of travel, walking every day, the auxiliary level provided by armor and/or the hourage that uses armor every day.These data also will contribute to the fitness of confirmation patient and prove the use of armor to third party requestee.
As shown in the figure, the GUI1300 dorsiflex that makes user's (such as, care providers, patient and researcher etc.) can control to be provided by armor and the auxiliary power of plantar flexion and sequential.This interface comprises the input of the maximum, force for putting on dorsiflex and plantar flexion cable.Based on the gait cycle calculated, researcher also inputs the time point of the oblique ascension of each power and the beginning of oblique deascension and end.Advantageously, safety measure is built in interface, or is input to (such as, by authorized care providers) in interface, to prevent from exceeding the accident input of default permission power or position limit value.Impedance, power and position limit value can be revised in interface.In addition, when producing new force curve, its superposition is plotted in the top of current force curve to emphasize the difference between two curves.New curve must obtain the confirmation of user before it can be applied to armor
In at least some, GUI1300 comprises the annotation pane enabling user input annotation synchronous with the change of force curve in time.This kind of annotation such as can describe that reason, which work of making specific change achieve successfully, which work is unsuccessful or need what is implemented in future in detail.
In at least some, GUI1300 can accessed away from the computer of soft machine armor 100 or device, and computer and soft machine armor 100 are networkings, make the change be input in GUI1300 automatically be covered in soft machine armor control system.Therefore, the clinician that patient is treated or all can monitor soft machine armor 100 data to the higher level that soldier monitors and implement real time modifying to control system, to adapt to the specific needs of the wearer (such as, patient and soldier etc.) of soft machine armor.In clinical practice, this interface enables clinician adjust soft machine armor 100 during Rehabilitation, to guarantee that armor provides the auxiliary of appropriate amount and sequential in the whole recovery process of patient.
In addition, below man/machine interface, active force between wearer with soft machine armor 100 and this active force are discussed together with the impact of control algolithm.
Briefly, control is such one strategy: the length being changed them by the active member (such as, stretching element and driving device etc.) in the soft machine armor of this policy commands between active stage.Soft machine armor 100 can make its length be changed by the active member in soft machine armor, and these active members provide change or provide the slow change (such as, being of value to gradually changing of landform) through a lot of step in single step.Automatization and/or the element that can manually regulate also can be used for the length changing armor.Soft machine armor 100 presently disclosed is unique, if especially soft machine armor becomes lax (by increasing length), so it is ND completely concerning wearer, this means that it does not limit the motion of wearer.
Soft machine armor 100 produces tension force by two kinds of methods in its inside.First method is that active member changes the length of soft machine armor 100 to strain it on health.Second method is that health can move and soft machine armor extends such fact with certain radius from described joint and extends due to the motion in joint and soft machine armoured material at least one joint.These the two kinds of methods producing tension force in soft machine armor are illustrated in Figure 31 A to 31B.
Figure 31 A to 31B shows by using driven part to assign to shorten the length of armor to produce the method and system of tension force in soft machine armor 100.Figure 31 A illustrates concept, and Figure 31 B show this concept can how for the particular example of soft machine armor.In Figure 31 B, the arrow at the rear portion place of shank shows that the part of soft machine armor shortens, and the arrow of pelvis and heel shows to cause power in soft machine armor and health must apply counteracting force to prevent soft machine armor in the generation displacement of these positions in these positions.
Figure 32 A to 32B shows the method and system producing tension force due to the body make-up change of wearer in soft machine armor.Figure 32 A shows and how to produce: if fabric or other soft stretch element are adhered to body part in every side in joint, and then arthrogryposis, if fabric or other soft stretch element with the path process of radius r >0, so cause tension force at fabric or other soft stretch element internal at periarticular.Figure 32 B shows and be anchored to the possible path of the soft machine armor 100 of wearer with the rear portion place of ankle before waist.It is through knee joint, but is positioned at before hip and ankle positive radius below.When position shown in the intermediate image that wearer moves into Figure 32 B, soft machine armor becomes due to its stretching, extension on hip and ankle and tightens.Shown by the arrow at waist and ankle place in the intermediate image of Figure 32 B and be applied on soft machine armor with the power preventing it to be moved by health.At other leg position place, soft machine armor is lax.
Based on such for the understanding how producing power in soft machine armor, there is the scheme that much can be used for the tension force controlled in armor.
If soft machine armor 100 becomes lax (by the initial length that the health of Selection radio in given attitude is longer, or by stretching driven portion), power in so soft machine armor is substantially zero (power <2N, this is similar to has worn jeans).Have in soft machine armor zero-g or substantially zero-g be useful because it can not limit the motion of wearer and usually can not cause the attention of wearer.If wearer is only wanted auxiliary in some motion (such as, stair climbing) period and do not want to be hindered or restriction by soft machine armor in other motion (such as, the walking on level ground), so this will be useful.
Another probability in soft machine armor 100, has positive power (0.0001N to 10N) in a small amount, even if wearer moves to the power that different attitude also keeps such.For realizing this object, soft machine armor must comprise the drive part carrying out as required stretching and shrinking, with when wearer attitude, move and stand and change time in soft machine armor, keep the tension force of so amount.For following reason, in soft machine armor, positive power is in a small amount kept to be useful.The location track that actuator moves through when keeping the tension force of this small amount of can be used for determining the position of health, and this is useful for control.Such as, when health arrives a certain attitude, actuator can apply higher power, or the attitude of health can be used for notifying the control (it will drive different joint or identical joint in the opposite direction) from the actuator of the different loads Path Connection on health.In soft machine armor, keep the location track of actuator during little power also can be recorded for determining how wearer moves in time, such as to monitor their biomechanics.And, if expect that actuator applies larger power, then in soft machine armor, keep little power that actuator can be responded quickly, this is because these actuators do not need a large amount of the relaxing reeled in armor always.
Last probability is in soft machine armor, have a large amount of power (>10N).The power of this amount contributes to torque being applied to biological joint such as to assist wearer when wearer is walked.If wearer is in motion, the power of this amount will only be used at special time place.Such as, during walking, soft machine armor can be assisted at ankle place and mainly be occurred in pushing off in the 40%-60% of gait cycle.Or if someone is carrying out from sitting posture arrives at a station receiving during action auxiliary, then soft machine armor can provide power during whole action, and complete once this action and just stop providing power.
Contribute to understanding and can how to use the second concept of machine armor to be the concept being passed to wearer or the power from wearer transmission.Consider in a single direction to the machine armor that single joint is assisted, such as, for the machine armor that auxiliary hip stretches.In the case, soft machine armor applies tension force hip being pulled to further stretching, extension.If joint moves up in the side identical with the power be applied in, then positive is passed to joint by soft machine armor.At the aspect of the soft machine armor 100 for hip stretching, extension (such as, see Figure 15 A to 15B), this hip corresponded to when there is power in soft machine armor stretches.On the contrary, if joint moves up in the side contrary with the power be applied in, then negative power is applied to joint by soft machine armor, or in other words, soft machine armor is from joint absorbed power.In the aspect of soft machine armor 100 stretching (such as, see Figure 15 A to 15B) for hip, this corresponds to hip flexing when there is power in soft machine armor.
As shown in Figure 33 and Figure 34 A to 34B, the power produced in soft machine armor depends on the joint motions of bottom.In other words, the active part of machine armor is controlled as and only within the time period that positive to be passed to wearer by power, produces significant power.For the machine armor striding across single joint, the motion in joint can by one or more sensor (such as, to be arranged on joint or sensor around or the sensor that is arranged in limbs or pays close attention on position) to detect or by one or more sensor (such as, be arranged on another joint or another limbs or sensor around, the output of this sensor can provide the side information about the joint paid close attention to or limbs) infer.When joint moves up in the side that machine armor applies power, actuator can produce significant power in soft machine armor.If when joint starts to move in the opposite direction, then actuator is removable produces significant power to stop in soft machine armor.This strategy ensure that soft machine armor only provides positive to wearer and do not absorb energy from wearer.
Within the time period not applying significant power, actuator 200 can move to produce in armor lax, or mobile to follow the tracks of wearer while applying little power, or some combination of both.If actuator 200 follows the tracks of wearer while applying little power, then the length of actuator can be used for detect joint when move up in the side identical with the direction that soft machine armor 100 applies power: if actuator shortens in certain of soft machine armor, then joint moves up in the side identical with the direction that soft machine armor 100 applies power.If actuator must move certain aspect increasing soft machine armor, then joint is moved in the opposite direction.
If exist lax in armor, then other sensor such as such as gyroscope and soft strain transducer etc. can be used for the motion estimating joint.Gyroscope can be used for the speed directly estimating joint, and therefore (such as, sagittal plane is measured) plus or minus reading will directly correspond to joint be flexing or stretching, extension.When joint moves up in the side corresponding with the positive being passed to health from soft machine armor, tension force can be produced in soft machine armor 100.For joint angles sensor, the change in the direction of motion must be detected.
If actuator 200 applies the power of significant quantity to soft machine armor 100 and applies positive to health, so the time that actuator should discharge the tension force in soft machine armor can be detected in several ways.Other sensor such as such as gyroscope and soft strain transducer etc. can be used for the motion estimating joint.Alternately, actuator length can be used from the motion in estimation joint in conjunction with the model one of the force-displacement behavior of the ergometry in soft machine armor and soft machine armor and wearer.The example how model of the power-displacement of armor-human body uses together with displacement with power has been shown in Figure 33 with Figure 34 A to 34B.
Figure 33 shows the human body-armor system stiffness of measurement.Wearer with between must in office during drive motors their health a certain attitude corresponding for the shape be in is stood (such as, their lower limb just looks like forward that they are in 10% place in gait cycle).Then, the drive part of soft machine armor 100 changes length, and records the power produced in soft machine armor.The curve of Figure 33 shows the dependency of actuator displacement and induction force.By equation matching is carried out input output model to data: such as quadratic equation (power=a*x
2+ b*x, wherein x is displacement and a and b is constant) acclivity of matched curve, and the decline slope of exponential equation formula (power=c*exp (-d* (x-xmax)), wherein c, d and xmax are constants) matched curve.These give repeatably force-displacement behavior.The arrow be positioned at above and below data and curves represents the direction around hysteresis loop.
Under this model, the time-histories of the power in given armor, this power (be rise or decline for deterministic force) and actuator length, just can determine the position of people.The curve of the hip moment (it is the zoom version of the power in armor) during Figure 34 A to 34B shows walking cycle and the position of actuator 200.The power in the soft machine armor in a gait cycle is shown by the solid black lines (" approximately ") in Figure 34 A.By using inversion model, power calculates the displacement of armor-body system thus, and result is " x in Figure 34 B
s" 1400.The length of actuator is shown as curve " x in Figure 34 B
m" 1410.The position of hip at Figure 34 B by the curve " x in Figure 34 B
hip" 1420 to illustrate.Curve " x
hip" 1420 be unknown, but by using armor-body system displacement x
swith actuator length x
mby relation x
hip=x
m+ x
scalculate.
For the soft machine armor 100 striding across multiple joint, similar principles can be used.Produced by actuator while keeping the low power in soft machine armor and the function of the radius offset at these joints by the angle in joint that strides across and soft machine armor for the displacement of following the tracks of health.Can follow the tracks of the angle in multiple joints that soft machine armor strides across, and when the side corresponding in the positive received from soft machine armor with them when all angles moves up, tension force can be produced in soft machine armor.
Usually, it may not be maximally be of value to only in soft machine armor 100, producing tension force when soft machine armor can transmit positive to health.Feel more natural to make soft machine armor 100 and with health synergism, it can contribute to copying the function (when biological joint absorbed power absorbed power, to health transmitted power when producing power in biological joint) of health.Act in this way also can allow health move in a more natural way (such as, keep with walking nominal manner closer to kinesiology), this can cause better performance.In order to use the soft machine armor 100 striding across multiple joint to realize this object, the tension force in soft machine armor can be the function of each joint angles.
Therefore, the tension force in soft machine armor 100 can be formed the function of joint angles.If actuator 200 is mobile to keep little tension force in armor constantly, then except joint angles is measured, also can uses actuator length, actuator length maybe can be used to measure to replace joint angles.
If joint produces positive and other joint absorbed powers, if or two joints usually produce positive but one of them obtains health due to weak or damage than normal condition and less drives, the soft machine armor 100 so striding across multiple joint can be used to power to be passed to from a joint another or other joint, such as, cross the rear portion of thigh, arrive the soft machine armor 100 of tibia through knee and power can be passed to ankle from hip, to raise the forward foot in a step during the 60%-100% of gait cycle.This device will be useful to the patient's (tibialis anterior existing problems lifting foot in dorsiflex of these patients) suffering from muscular dystrophy or apoplexy.When thigh moves into flexing, in soft machine armor 100, produce tension force due to the motion of hip.This tension force will upwards pull the front portion of foot, thus helps less touch with the ground.
According to the present invention, soft machine armor 100 does not need to stride across multiple joint (multi-joint soft machine armor structure) and can across only a joint.For example, concept (comprising control program) presently disclosed be equally applicable to engage with shank and be connected to the footwear being arranged in user rear portion and/or the soft machine armor of one or more footwear Connection Elements.It is emphasized that the anchor point of soft machine armor can comprise the anatomical features (comprising myoarchitecture) that size is designed to the applying of resisting tension force.
Explanation above relates to various illustrative aspects of the present invention.Each one of these embodiments and various variation thereof is all considered to drop in the spirit and scope of the present invention, sets forth at least some method of the present invention claim below.The unrestriced mode with explaination, the control system relevant with the example of soft machine armor 100 presently disclosed is equally applicable to robot (that is, free-standing robot) and such as traditional based on wearable robot system and devices such as ectoskeletal wearable robot system or prosthetic devices.Therefore, all wearable robot systems (soft machine armor presently disclosed, traditional based on ectoskeletal wearable robot system, prosthetic device or their combination) can become and have more adaptability, instead of only depend on the motor pattern of pre-programmed.In addition, although for Bowden cable or other cable type, the some examples to the transmission of soft machine armor power are illustrated, but the flexible drive element of any kind advantageously can be used according to power transmission of the present invention, such as, but not limited to flexible braid belt or strip material (such as, fabric and composite etc.) etc.
On the other hand, control system presently disclosed can advantageously use current of electric as input, controller utilizes current of electric as the instruction of motor torque (and correspondingly, being applied to the power of the junction point of driver part by driver part) being applied to driver part.
In at least some, control system can be configured to by user authorized third parties such as (or) such as health care providers the curve revising the power applied by soft machine armor actuator, such as to relax the oblique ascension of the applying of power (such as, in order to contribute to power described in user adaptation) and/or power applying oblique deascension (such as, in order to make user feel suddenly " both legs are heavy " feel minimize).
In at least some; control system embodies following " error protection " agreement: wherein; if any parts of system (such as; the sensor that high level lost efficacy or low value lost efficacy) break down, control system takes remedial action to be placed in the structure of soft machine armor to the interference of wearer generation minimum level to make soft machine armor.
Claims (31)
1. a kinetic control system, it comprises:
At least one driver, at least one driver described comprises at least one driver part, at least one driver part described has near-end and far-end, described near-end is connected at least one driver described in first side in joint, described far-end is connected to anchoring element junction point in second side in described joint;
First sensor, described first sensor is configured to export signal that is relevant to the sequential of gait cycle or that be associated;
Second sensor, described second sensor is configured to the signal exporting the tension force of representative at least one driver part described; And
At least one controller, at least one controller described is configured to receive the described signal exported from described first sensor and the described signal exported from described second sensor, and in response to the signal received, at least one driver described is automatically driven during the Part I of described gait cycle, the power being greater than reservation threshold tension force is applied to described anchoring element junction point to produce the useful moment about described joint via at least one driver part described, and during at least Part II of described gait cycle, automatically drive at least one driver described, with the level that the tension force at described anchoring element junction point place is decreased to described reservation threshold tension force or the level be decreased to lower than described reservation threshold tension force, avoid producing the harmful moment about described joint with this,
Wherein, at least one controller described is configured to use the described signal only exported from described first sensor from current step and the described signal exported from described second sensor, to determine that described tension force is crossed the sequential of described reservation threshold and determines to reach the sequential of peak tensions during the first stage of described gait cycle.
2. kinetic control system as claimed in claim 1,
Wherein, described joint comprises ankle joint, and
Wherein, described anchoring element junction point comprises footwear Connection Element, and wherein, the described Part I of described gait cycle comprise described gait cycle about 30% to 62.5% between scope, this scope correspond to about midstance and toe liftoff between scope.
3. kinetic control system as claimed in claim 2,
Wherein, at least one controller described is formed at and drives at least one driver described from about 62.5% to the described Part II of heel contact subsequently in described gait cycle, is substantially zero to be decreased to by the tension force at described anchoring element junction point place.
4. kinetic control system as claimed in claim 2,
Wherein, at least one controller described be formed at described gait cycle about 30% to 62.5% between described scope in drive at least one driver described, tension force to be increased to the predeterminated level below about 1900N, and then described tension force is back to described reservation threshold tension force or lower than described reservation threshold tension force to decline.
5. kinetic control system as claimed in claim 2,
Wherein, at least one controller described be formed at described gait cycle about 30% to 62.5% between described scope in drive at least one driver described, tension force to be increased to the predeterminated level below about 300N, and then described tension force is back to described reservation threshold tension force or lower than described reservation threshold tension force to decline.
7. kinetic control system as claimed in claim 1,
Wherein, described joint comprises hip joint, and
Wherein, described anchoring element junction point comprises the thigh support part Connection Element be arranged in the hamstring region of wearable robot, and wherein, the described Part I of described gait cycle comprise described gait cycle about 0% to 62.5% between scope, this scope is corresponding with stance.
8. kinetic control system as claimed in claim 7,
Wherein, drive at least one driver described during at least one controller described is formed at the described Part II corresponding with recovery phase of described gait cycle, be substantially zero to be decreased to by the tension force at described anchoring element junction point place.
9. kinetic control system as claimed in claim 7,
Wherein, at least one controller described be formed at described gait cycle about 0% to 62.5% between described scope in drive at least one driver described, tension force to be increased to the predeterminated level below about 400N, and then described tension force is back to described reservation threshold tension force or lower than described reservation threshold tension force to decline.
10. as claim 1 or kinetic control system according to claim 7,
Wherein, described first sensor comprises at least one among gyroscope or foot switch.
11. kinetic control systems as claimed in claim 1,
Wherein, during the described Part I of described gait cycle, at least one controller described is that the reservation threshold increased to about between 20N to 50N by the tension force measured at least one driver part described is triggered to the automatic driving that at least one driver described is carried out.
13. kinetic control systems as claimed in claim 12,
Wherein, the tension force being substantially zero described in comprises the power about between 0N to 5N.
14. kinetic control systems as claimed in claim 1,
Wherein, described first sensor comprises at least one superelastic strain sensor.
15. kinetic control systems as claimed in claim 1, it also comprises:
Multiple driver, described multiple driver comprises the first driver be associated with the first driver part in the mode that can operate and the second driver be associated with the second driver part in the mode that can operate, described first driver part has the near-end that is connected with described first driver in first side in the first joint and has the far-end be connected with the first anchoring element junction point of the second side being arranged in described first joint, and described second driver part has with the near-end be connected with described second driver in the first side of second joint and has the far-end be connected with the second anchoring element junction point of the second side being arranged in described second joint, and
3rd sensor, it is configured to export the signal of the tension force represented in described second driver part,
Wherein, at least one controller described is configured to receive the described signal exported from described first sensor and the described signal exported from described second sensor, and in response to the signal received, described first driver is automatically driven during the described Part I of described gait cycle, the power being greater than the first reservation threshold tension force is applied to described first anchoring element junction point via described first driver part, the useful moment about described first joint is produced with this, and during at least Part II of described gait cycle, automatically drive described first driver, so that the tension force at described first anchoring element junction point place is decreased to the level of described first reservation threshold tension force or the level lower than described first reservation threshold tension force,
Wherein, at least one controller described is also configured to receive the described signal exported from described first sensor and the described signal exported from described 3rd sensor, and in response to the signal received, described second driver is automatically driven during the Part III of described gait cycle, the power being greater than the second reservation threshold tension force is applied to described second anchoring element junction point via described second driver part, the useful moment about described second joint is produced with this, and during at least Part IV of described gait cycle, automatically drive described second driver, so that the tension force at described second anchoring element junction point place is decreased to the level of described second reservation threshold tension force or the level lower than described second reservation threshold tension force, and
Wherein, the described Part I of described gait cycle and the described Part III of described gait cycle include a part at least stance.
16. kinetic control systems as claimed in claim 15,
Wherein, described first joint is ankle joint,
Wherein, described second joint is hip joint, and
Wherein, described first joint and described second joint are all positioned on same lower limb.
17. kinetic control systems as claimed in claim 16,
Wherein, the described Part I of described gait cycle comprises the region between about midstance and swing in earlier stage, and
Wherein, the described Part III of described gait cycle comprises the contact of about initial stage and swings the region of the gait between early stage.
18. kinetic control systems as claimed in claim 16,
Wherein, the described Part I of described gait cycle comprise described gait cycle about 30% to 62.5% between region, and
Wherein, the described Part III of described gait cycle comprise described gait cycle about 0% to 62.5% between the region of gait.
19. kinetic control systems as claimed in claim 15,
Wherein, at least one controller described comprises multiple controller.
20. kinetic control systems as claimed in claim 1, it also comprises:
Multiple driver, described multiple driver comprises multiple driver part, and described multiple driver part is arranged to cross over multiple joint;
And multiple sensor, described multiple sensor is configured to export the signal of the tension force represented in described multiple driver part,
Wherein, at least one controller described is configured to receive the described signal exported from described multiple sensor, and in response to the signal received, each driver of the correspondence in described multiple driver is automatically driven during the predetermined portions for each driver part in described multiple driver part for described gait cycle, apply predetermined force curve to stride across corresponding joint, thus produce the useful moment about described joint.
21. 1 kinds of kinetic control systems, it comprises:
At least one driver, at least one driver described comprises at least one driver part, at least one driver part described has near-end and far-end, described near-end is connected with at least one driver described in first side in joint, and described far-end is connected with the anchoring element junction point of the second side being arranged in described joint;
First sensor, described first sensor is configured to the tension force measured at least one driver part described and also exports the signal relevant to tested tension force;
Second sensor, described second sensor is configured to detect heel contact or another gait temporal events;
Storage device, described storage device is configured to store average gait percent data and average step time;
At least one controller, at least one controller described is configured to monitor the described signal exported by described first sensor and the described signal exported by described second sensor, and after heel contact being detected, wait for that the described tested tension force at least one driver part described rises to threshold level, after these two events, at least one controller described calculates gait percentage ratio in step by using following formula:
And at least one driver exports the location aided rebroadcast force curve based on described gait percentage ratio to shown anchoring element junction point via at least one driver part described described in triggering, the applying of described location aided rebroadcast force curve produces the useful moment about described joint, and
Wherein, at least one controller described is also configured to: calculate new average gait percentage ratio, average gait percentage ratio in described storage device is updated stored in by using described heel contact and average step time, the average gait percentage ratio of monitoring about 36% is in described tested tension force at least one driver part described, and the aided location curve initiating to correct exports with the driver adapted to subsequently.
22. kinetic control systems as claimed in claim 21,
Wherein, the aided location curve of described rectification comprises the initial amplitude increasing or reduce described aided location curve.
23. kinetic control systems as claimed in claim 22,
Wherein, the aided location curve of described rectification comprises the peak swing increasing or reduce described aided location curve.
24. kinetic control systems as claimed in claim 23,
Wherein, maximum position curve self-adapting often walks about 1mm.
25. kinetic control systems as claimed in claim 21,
Wherein, described second sensor comprises at least one superelastic strain sensor.
The method of 26. 1 kinds of wearable robot systems of control, it comprises the following steps:
By using controller, utilize the first sensor of described wearable robot system to detect heel contact;
In response to the above-mentioned detection to described heel contact, use described controller to start to monitor the second sensor of described wearable robot system, to determine when the passive generative power in described second sensor rises to reservation threshold level;
Described controller is used to come according to following formulae discovery gait percentage ratio:
The calculating gait percentage ratio of described reservation threshold level and 36% is risen in response to the described passive generative power in the above-mentioned detection to described heel contact, described second sensor, use described controller to trigger at least one driver, location aided rebroadcast curve is passed to joint based on described calculating gait percentage ratio.
27. methods controlling wearable robot system as claimed in claim 26, further comprising the steps of:
Average gait percentage ratio in the non-transitory physical storage device be associated with described controller in the mode that can operate is updated stored in by using described calculating gait percentage ratio.
28. methods controlling wearable robot system as claimed in claim 26, further comprising the steps of:
The peak value force value of passive generative power in described second sensor and step is in by using described controller to monitor the average gait percentage ratio 36%; And
The described peak value force value average gait percentage ratio 36% being in described passive generative power in described second sensor and described step is stored in described non-transitory physical storage device; And
At least one during corresponding at least one average gait percentage ratio 36% being in the described passive generative power that at least one currency of the current described passive generative power in described second sensor or the described peak value force value of described step and the average gait percentage ratio 36% are in described second sensor is formerly worth compares in the described peak value force value of first step at first storing value or that.
29. methods controlling wearable robot system as claimed in claim 30, further comprising the steps of:
In response to the following judgement undertaken by described controller in above-mentioned comparison step, aided location curve initial amplitude and/or peak swing are corrected: the average gait percentage ratio that the described peak value force value of at least one currency or described step that the average gait percentage ratio 36% is in the current described passive generative power in described second sensor is greater than or less than 36% is in described second sensor described in described passive generative power to exceed reservation threshold difference in the respective value of first storing value or that in the amount of the described peak value force value of first step.
30. methods controlling wearable robot system as claimed in claim 29, further comprising the steps of:
In response to the determination being passed to the power of human body by described wearable robot system, aided location curve initial amplitude and/or peak swing are corrected, maximize to make the amount of the positive be passed and the amount of absorbed negative power is minimized.
31. methods controlling wearable robot system as claimed in claim 29, further comprising the steps of:
In order to mate the auxiliary power curve to the useful expectation of user, in response to the determination being passed to the power of human body by described wearable robot system, aided location curve initial amplitude and/or peak swing are corrected.
The method of 32. wearable robot systems of control according to any one of claim 28 to 31, wherein, described wearable robot system is soft machine armor.
33. 1 kinds of kinetic control systems for soft machine armor, it comprises:
At least one driver, at least one driver described comprises at least one driver part, at least one driver part described has near-end and far-end, described near-end is connected with at least one driver described in first side in joint, and described far-end is connected with the anchoring element junction point of the second side being arranged in described joint;
First sensor, described first sensor is configured to the tension force measured at least one driver part described and also exports the signal relevant with tested tension force;
Second sensor, described second sensor is configured to detect heel contact;
3rd sensor, described 3rd sensor is configured to the elongation detecting at least one driver part described;
Non-transitory physical storage device, described non-transitory physical storage device is configured to the rigidity model storing the described soft machine armor be associated with the power produced by described soft machine armor by the elongation of at least one driver part described;
At least one controller, at least one controller described is configured to monitor the signal exported to described 3rd sensor from described first sensor, and the elongation of described soft machine armor is calculated by the reverse and described tested tension force using the rigidity model of described soft machine armor, differentiate is carried out to obtain the elongation speed of described soft machine armor to described elongation, and determines the power by described soft machine armor generation or absorption by the described elongation speed described tested tension force being multiplied by described soft machine armor.
Wherein, at least one controller described is also configured to monitor the elongation from the described driver part of described 3rd sensor and the power that produced by described driver part, calculate the derivative of the described elongation of described driver part and calculate by the described elongation that the described power produced by described driver part is multiplied by described driver part the power produced by described driver part, and
Wherein, at least one controller described is also configured to calculate by deducting the positive produced by described soft machine armor by the power of described soft machine armor absorption or increase from the power produced by least one driver part described the power being passed to human body by described soft machine armor.
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Also Published As
| Publication number | Publication date |
|---|---|
| US20160107309A1 (en) | 2016-04-21 |
| CN108670195A (en) | 2018-10-19 |
| EP3003231B1 (en) | 2019-09-18 |
| WO2014194257A1 (en) | 2014-12-04 |
| EP3003231A1 (en) | 2016-04-13 |
| JP2016528940A (en) | 2016-09-23 |
| KR20160016925A (en) | 2016-02-15 |
| EP3777677A2 (en) | 2021-02-17 |
| US10843332B2 (en) | 2020-11-24 |
| US20210039248A1 (en) | 2021-02-11 |
| EP3003231A4 (en) | 2017-06-21 |
| EP3777677A3 (en) | 2021-02-24 |
| CN115040073A (en) | 2022-09-13 |
| CN108670195B (en) | 2022-05-10 |
| CN105263448B (en) | 2018-05-04 |
| JP6466420B2 (en) | 2019-02-06 |
| CA2911275A1 (en) | 2014-12-04 |
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